autotest: added quadplane-can vehicle

setup with all CAN peripherals

Tools/autotest/arducopter.py

@@ -2621,7 +2621,7 @@ class AutoTestCopter(AutoTest):
             "GPS_TYPE": 9,
             "GPS_TYPE2": 9,
             "SIM_GPS2_DISABLE": 0,
-            "SIM_SPEEDUP": 10,
+            "SIM_SPEEDUP": 5,
         })
 
         self.context_push()

Tools/autotest/default_params/periph.parm

@@ -5,4 +5,5 @@ COMPASS_ENABLE 1
 BARO_ENABLE 1
 ARSPD_TYPE 100
 RNGFND1_TYPE 100
+RNGFND1_MAX_CM 12000
 BATT_MONITOR 4

Tools/autotest/default_params/quad-can.parm

@@ -0,0 +1,8 @@
+CAN_P1_DRIVER 1
+CAN_D1_UC_ESC_BM 0x0F
+SIM_CAN_SRV_MSK 0xFf
+SIM_VIB_MOT_MAX 270
+GPS_TYPE 9
+RNGFND1_TYPE 24
+RNGFND1_MAX_CM 11000
+BATT_MONITOR 8

Tools/autotest/default_params/quad-periph.parm

@@ -0,0 +1,15 @@
+# extra parameters for SITL peripheral quadplane
+
+# ESCs
+OUT1_FUNCTION 33
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT2_FUNCTION 34
+OUT2_MIN 1000
+OUT2_MAX 2000
+OUT3_FUNCTION 35
+OUT3_MIN 1000
+OUT3_MAX 2000
+OUT4_FUNCTION 36
+OUT4_MIN 1000
+OUT4_MAX 2000

Tools/autotest/default_params/quadplane-can.parm

@@ -0,0 +1,13 @@
+CAN_P1_DRIVER 1
+CAN_D1_UC_ESC_BM 0xF0
+CAN_D1_UC_ESC_OF 4
+CAN_D1_UC_SRV_BM 0x0F
+CAN_D1_UC_OPTION 16
+SIM_CAN_SRV_MSK 0xfff
+SIM_VIB_MOT_MAX 270
+GPS_TYPE 9
+ARSPD_TYPE 8
+RNGFND1_TYPE 24
+RNGFND1_MAX_CM 11000
+RNGFND_LANDING 1
+BATT_MONITOR 8

Tools/autotest/default_params/quadplane-periph.parm

@@ -0,0 +1,21 @@
+# extra parameters for SITL peripheral quadplane
+
+# control surfaces
+OUT1_FUNCTION 51
+OUT2_FUNCTION 52
+OUT3_FUNCTION 53
+OUT4_FUNCTION 54
+
+# ESCs
+OUT5_FUNCTION 33
+OUT5_MIN 1000
+OUT5_MAX 2000
+OUT6_FUNCTION 34
+OUT6_MIN 1000
+OUT6_MAX 2000
+OUT7_FUNCTION 35
+OUT7_MIN 1000
+OUT7_MAX 2000
+OUT8_FUNCTION 36
+OUT8_MIN 1000
+OUT8_MAX 2000

Tools/autotest/pysim/vehicleinfo.py

@@ -188,6 +188,11 @@ class VehicleInfo(object):
                 "default_params_filename": ["default_params/copter.parm",
                                             "models/Callisto.param"],
             },
+            "quad-can": {
+                "waf_target": "bin/arducopter",
+                "default_params_filename": ["default_params/copter.parm", "default_params/quad-can.parm"],
+                "periph_params_filename": ["default_params/periph.parm", "default_params/quad-periph.parm"],
+            },
         },
     },
     "Helicopter": {
@@ -260,6 +265,11 @@ class VehicleInfo(object):
                 "waf_target": "bin/arduplane",
                 "default_params_filename": ["default_params/quadplane.parm", "default_params/plane-ice.parm", "default_params/quadplane-ice.parm"],
             },
+            "quadplane-can": {
+                "waf_target": "bin/arduplane",
+                "default_params_filename": ["default_params/quadplane.parm", "default_params/quadplane-can.parm"],
+                "periph_params_filename": ["default_params/periph.parm", "default_params/quadplane-periph.parm"],
+            },
             "firefly": {
                 "waf_target": "bin/arduplane",
                 "default_params_filename": "default_params/firefly.parm",

Tools/autotest/sim_vehicle.py

@@ -660,14 +660,24 @@ def start_antenna_tracker(opts):
     os.chdir(oldpwd)
 
 
-def start_CAN_GPS(opts):
-    """Compile and run the sitl_periph_gps"""
+def start_CAN_Periph(opts, frame_info):
+    """Compile and run the sitl_periph"""
 
     global can_uarta
     progress("Preparing sitl_periph_gps")
     options = vinfo.options["sitl_periph_gps"]['frames']['gps']
-    defaults_path = options.get('default_params_filename', None)
-    do_build(opts, options)
+    defaults_path = frame_info.get('periph_params_filename', None)
+    if defaults_path is None:
+        defaults_path = options.get('default_params_filename', None)
+
+    if not isinstance(defaults_path, list):
+        defaults_path = [defaults_path]
+
+    # add in path and make a comma separated list
+    defaults_path = ','.join([util.relcurdir(os.path.join(autotest_dir, p)) for p in defaults_path])
+
+    if not cmd_opts.no_rebuild:
+        do_build(opts, options)
     exe = os.path.join(root_dir, 'build/sitl_periph_gps', 'bin/AP_Periph')
     cmd = ["nice"]
     cmd_name = "sitl_periph_gps"
@@ -692,7 +702,7 @@ def start_CAN_GPS(opts):
     cmd.append(exe)
     if defaults_path is not None:
         cmd.append("--defaults")
-        cmd.append(util.relcurdir(os.path.join(autotest_dir, defaults_path)))
+        cmd.append(defaults_path)
     run_in_terminal_window(cmd_name, cmd)
 
 
@@ -1476,8 +1486,8 @@ if cmd_opts.instance == 0:
 if cmd_opts.tracker:
     start_antenna_tracker(cmd_opts)
 
-if cmd_opts.can_peripherals:
-    start_CAN_GPS(cmd_opts)
+if cmd_opts.can_peripherals or frame_infos.get('periph_params_filename', None) is not None:
+    start_CAN_Periph(cmd_opts, frame_infos)
 
 if cmd_opts.custom_location:
     location = [(float)(x) for x in cmd_opts.custom_location.split(",")]