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https://github.com/ArduPilot/ardupilot
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autotest: tidy various Rover autotests
autotest: tidy Sprayer test autotest: tidy rover AC_Avoidance test autotest: tidy rover ModeSwitch test autotest: tidy rover AuxModeSwitch autotest: tidy rover RCOverrides test autotest: tidy rover MANUAL_CONTROL test autotest: tidy rover PolyFenceObjectAvoidance test
This commit is contained in:
Peter Barker
Peter Barker
parent
763292780a
commit
605a9d34e3
@ -227,9 +227,6 @@ class AutoTestRover(vehicle_test_suite.TestSuite):
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def Sprayer(self):
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"""Test sprayer functionality."""
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self.context_push()
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ex = None
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try:
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rc_ch = 5
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pump_ch = 5
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spinner_ch = 6
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@ -318,17 +315,10 @@ class AutoTestRover(vehicle_test_suite.TestSuite):
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self.start_subtest("Stopping Sprayer")
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self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SPRAYER, p1=0)
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self.wait_servo_channel_value(pump_ch, pump_ch_min)
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self.set_rc(3, 1000) # start driving forward
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self.set_rc(3, 1000) # stop driving forward
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self.progress("Sprayer OK")
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except Exception as e:
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self.print_exception_caught(e)
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ex = e
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self.disarm_vehicle(force=True)
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self.context_pop()
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self.reboot_sitl()
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if ex:
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raise ex
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self.disarm_vehicle()
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def DriveMaxRCIN(self, timeout=30):
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"""Drive rover at max RC inputs"""
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@ -538,9 +528,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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def AC_Avoidance(self):
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'''Test AC Avoidance switch'''
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self.context_push()
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ex = None
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try:
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self.load_fence("rover-fence-ac-avoid.txt")
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self.set_parameters({
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"FENCE_ENABLE": 0,
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@ -564,16 +551,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.wait_groundspeed(0, 0.7, timeout=60)
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# watch for speed zero
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self.wait_groundspeed(0, 0.2, timeout=120)
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except Exception as e:
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self.print_exception_caught(e)
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ex = e
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self.disarm_vehicle(force=True)
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self.context_pop()
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self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
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self.reboot_sitl()
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if ex:
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raise ex
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self.disarm_vehicle()
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def ServoRelayEvents(self):
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'''Test ServoRelayEvents'''
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@ -745,9 +723,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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def ModeSwitch(self):
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''''Set modes via modeswitch'''
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self.context_push()
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ex = None
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try:
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self.set_parameter("MODE_CH", 8)
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self.set_rc(8, 1000)
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# mavutil.mavlink.ROVER_MODE_HOLD:
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@ -762,20 +737,9 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.wait_mode("HOLD")
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self.set_rc(8, 1700) # PWM for mode5
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self.wait_mode("ACRO")
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except Exception as e:
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self.print_exception_caught(e)
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ex = e
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self.context_pop()
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if ex is not None:
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raise ex
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def AuxModeSwitch(self):
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'''Set modes via auxswitches'''
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self.context_push()
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ex = None
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try:
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# from mavproxy_rc.py
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mapping = [0, 1165, 1295, 1425, 1555, 1685, 1815]
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self.set_parameter("MODE1", 1) # acro
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@ -806,14 +770,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.set_rc(10, 1000) # this re-polls the mode switch
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self.wait_mode("ACRO")
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self.set_rc(9, 1000)
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except Exception as e:
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self.print_exception_caught(e)
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ex = e
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self.context_pop()
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if ex is not None:
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raise ex
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def RCOverridesCancel(self):
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'''Test RC overrides Cancel'''
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@ -888,10 +844,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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def RCOverrides(self):
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'''Test RC overrides'''
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self.context_push()
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self.set_parameter("SYSID_MYGCS", self.mav.source_system)
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ex = None
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try:
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self.set_parameter("RC12_OPTION", 46)
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self.reboot_sitl()
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@ -1119,29 +1072,18 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.end_subtest("Checking higher-channel semantics")
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except Exception as e:
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self.print_exception_caught(e)
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ex = e
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self.disarm_vehicle()
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self.context_pop()
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self.reboot_sitl()
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if ex is not None:
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raise ex
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def MANUAL_CONTROL(self):
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'''Test mavlink MANUAL_CONTROL'''
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self.context_push()
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self.set_parameter("SYSID_MYGCS", self.mav.source_system)
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ex = None
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try:
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self.set_parameter("RC12_OPTION", 46) # enable/disable rc overrides
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self.set_parameters({
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"SYSID_MYGCS": self.mav.source_system,
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"RC12_OPTION": 46, # enable/disable rc overrides
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})
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self.reboot_sitl()
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self.change_mode("MANUAL")
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self.wait_ready_to_arm()
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self.zero_throttle()
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self.arm_vehicle()
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self.progress("start moving forward a little")
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normal_rc_throttle = 1700
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@ -1209,16 +1151,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.progress("Waiting for RC to revert to normal RC input")
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self.wait_rc_channel_value(3, normal_rc_throttle, timeout=10)
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except Exception as e:
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self.print_exception_caught(e)
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ex = e
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self.disarm_vehicle()
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self.context_pop()
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self.reboot_sitl()
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if ex is not None:
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raise ex
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def CameraMission(self):
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'''Test Camera Mission Items'''
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@ -4880,9 +4813,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.stop_mavproxy(mavproxy)
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# self.load_fence("rover-path-planning-fence.txt")
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self.load_mission("rover-path-planning-mission.txt")
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self.context_push()
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ex = None
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try:
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self.set_parameters({
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"AVOID_ENABLE": 3,
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"OA_TYPE": 2,
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@ -4901,14 +4831,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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# mission has RTL as last item
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self.wait_distance_to_home(3, 7, timeout=300)
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self.disarm_vehicle()
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except Exception as e:
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self.disarm_vehicle(force=True)
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self.print_exception_caught(e)
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ex = e
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self.context_pop()
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self.reboot_sitl()
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if ex is not None:
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raise ex
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def send_guided_mission_item(self, loc, target_system=1, target_component=1):
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self.mav.mav.mission_item_send(
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@ -4930,9 +4852,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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def test_poly_fence_object_avoidance_guided_pathfinding(self, target_system=1, target_component=1):
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self.load_fence("rover-path-planning-fence.txt")
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self.context_push()
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ex = None
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try:
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self.set_parameters({
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"AVOID_ENABLE": 3,
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"OA_TYPE": 2,
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@ -4943,8 +4862,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.set_parameter("FENCE_ENABLE", 1)
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if self.mavproxy is not None:
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self.mavproxy.send("fence list\n")
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target_loc = mavutil.location(40.073800, -105.229172)
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self.send_guided_mission_item(target_loc,
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target_system=target_system,
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@ -4952,13 +4869,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.wait_location(target_loc, timeout=300)
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self.do_RTL(timeout=300)
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self.disarm_vehicle()
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except Exception as e:
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self.print_exception_caught(e)
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ex = e
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self.context_pop()
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self.reboot_sitl()
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if ex is not None:
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raise ex
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def WheelEncoders(self):
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'''make sure wheel encoders are generally working'''
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