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Tools: autotest: ensure RNFD messages emitted

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This commit is contained in:
Peter Barker 2019-04-09 12:26:18 +10:00 committed by Peter Barker
parent a19df642a0
commit 601504e685
2 changed files with 69 additions and 3 deletions
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15
Tools/autotest/arducopter.py
View File

@ -124,12 +124,13 @@ class AutoTestCopter(AutoTest):
relative=True,
timeout=timeout)
def land(self, timeout=60):
def land_and_disarm(self, timeout=60):
"""Land the quad."""
self.progress("STARTING LANDING")
self.change_mode("LAND")
self.wait_altitude(-5, 1, relative=True, timeout=timeout)
self.progress("LANDING: ok!")
self.mav.motors_disarmed_wait()
def hover(self, hover_throttle=1500):
self.set_rc(3, hover_throttle)
@ -1523,6 +1524,12 @@ class AutoTestCopter(AutoTest):
if m is not None:
raise NotAchievedException("Received unexpected RANGEFINDER msg")
# may need to force a rotation if some other test has used the
# rangefinder...
self.progress("Ensure no RFND messages in log")
if self.current_onboard_log_contains_message("RFND"):
raise NotAchievedException("Found unexpected RFND message")
try:
self.set_parameter("RNGFND1_TYPE", 1)
self.set_parameter("RNGFND1_MIN_CM", 0)
@ -1579,12 +1586,14 @@ class AutoTestCopter(AutoTest):
if abs(m_r.distance - m_p.relative_alt/1000) > 1:
raise NotAchievedException("rangefinder/global position int mismatch")
self.land()
self.land_and_disarm()
if not self.current_onboard_log_contains_message("RFND"):
raise NotAchievedException("Did not see expected RFND message")
except Exception as e:
self.progress("Exception caught")
ex = e
self.land()
self.context_pop()
self.reboot_sitl()
if ex is not None:

57
Tools/autotest/arduplane.py
View File

@ -833,6 +833,59 @@ class AutoTestPlane(AutoTest):
timeout=5)
self.mav.motors_disarmed_wait()
def test_rangefinder(self):
ex = None
self.context_push()
self.progress("Making sure we don't ordinarily get RANGEFINDER")
try:
m = self.mav.recv_match(type='RANGEFINDER',
blocking=True,
timeout=5)
except Exception as e:
print("Caught exception %s" % str(e))
if m is not None:
raise NotAchievedException("Received unexpected RANGEFINDER msg")
try:
self.set_parameter("RNGFND1_TYPE", 1)
self.set_parameter("RNGFND1_MIN_CM", 0)
self.set_parameter("RNGFND1_MAX_CM", 4000)
self.set_parameter("RNGFND1_PIN", 0)
self.set_parameter("RNGFND1_SCALING", 12.12)
self.reboot_sitl()
'''ensure rangefinder gives height-above-ground'''
self.load_mission("plane-gripper-mission.txt") # borrow this
self.mavproxy.send("wp set 1\n")
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
home = self.poll_home_position()
self.wait_altitude(10, 1000, timeout=30, relative=True)
rf = self.mav.recv_match(type="RANGEFINDER", timeout=1, blocking=True)
if rf is None:
raise NotAchievedException("Did not receive rangefinder message")
gpi = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=1)
if gpi is None:
raise NotAchievedException("Did not receive GLOBAL_POSITION_INT message")
if abs(rf.distance - gpi.relative_alt/1000.0) > 3:
raise NotAchievedException("rangefinder alt (%s) disagrees with global-position-int.relative_alt (%s)" % (rf.distance, gpi.relative_alt/1000.0))
self.mavproxy.expect("Auto disarmed")
self.progress("Ensure RFND messages in log")
if not self.current_onboard_log_contains_message("RFND"):
raise NotAchievedException("No RFND messages in log")
except Exception as e:
self.progress("Exception caught: %s" % str(e))
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def rc_defaults(self):
ret = super(AutoTestPlane, self).rc_defaults()
ret[3] = 1000
@ -875,6 +928,10 @@ class AutoTestPlane(AutoTest):
("AIRSPEED_AUTOCAL", "Test AIRSPEED_AUTOCAL", self.airspeed_autocal),
("RangeFinder",
"Test RangeFinder Basic Functionality",
self.test_rangefinder),
("LogDownLoad",
"Log download",
lambda: self.log_download(