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autotest: flake8 compliance for arduplane.py

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Peter Barker 2021-02-12 13:44:28 +11:00 committed by Peter Barker
parent 78aa729b90
commit 628a3843b2
1 changed files with 136 additions and 103 deletions
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239
Tools/autotest/arduplane.py
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@ -1,6 +1,11 @@
#!/usr/bin/env python #!/usr/bin/env python
# Fly ArduPlane in SITL '''
Fly ArduPlane in SITL
AP_FLAKE8_CLEAN
'''
from __future__ import print_function from __future__ import print_function
import math import math
import os import os
@ -557,8 +562,8 @@ class AutoTestPlane(AutoTest):
0, 0,
0, 0,
0, 0,
int(loc.lat*1e7), int(loc.lat * 1e7),
int(loc.lng*1e7), int(loc.lng * 1e7),
new_alt, # alt new_alt, # alt
frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
) )
@ -567,7 +572,7 @@ class AutoTestPlane(AutoTest):
self.fly_home_land_and_disarm() self.fly_home_land_and_disarm()
def fly_deepstall(self): def fly_deepstall(self):
# self.fly_deepstall_absolute() # self.fly_deepstall_absolute()
self.fly_deepstall_relative() self.fly_deepstall_relative()
def fly_deepstall_absolute(self): def fly_deepstall_absolute(self):
@ -634,13 +639,13 @@ class AutoTestPlane(AutoTest):
0, 0,
0, 0,
0, 0,
12345, # lat*1e7 12345, # lat* 1e7
12345, # lon*1e7 12345, # lon* 1e7
100 # alt 100 # alt
) )
self.delay_sim_time(10) self.delay_sim_time(10)
self.progress("Ensuring initial speed is known and relatively constant") self.progress("Ensuring initial speed is known and relatively constant")
initial_speed = 21.5; initial_speed = 21.5
timeout = 10 timeout = 10
tstart = self.get_sim_time() tstart = self.get_sim_time()
while True: while True:
@ -702,12 +707,14 @@ class AutoTestPlane(AutoTest):
def fly_home_land_and_disarm(self, timeout=120): def fly_home_land_and_disarm(self, timeout=120):
filename = "flaps.txt" filename = "flaps.txt"
self.progress("Using %s to fly home" % filename) self.progress("Using %s to fly home" % filename)
num_wp = self.load_mission(filename) self.load_mission(filename)
self.change_mode("AUTO") self.change_mode("AUTO")
self.mavproxy.send('wp set 7\n') self.mavproxy.send('wp set 7\n')
self.drain_mav() self.drain_mav()
# TODO: reflect on file to find this magic waypoint number? # TODO: reflect on file to find this magic waypoint number?
# self.wait_waypoint(7, num_wp-1, timeout=500) # we tend to miss the final waypoint by a fair bit, and this is probably too noisy anyway? # self.wait_waypoint(7, num_wp-1, timeout=500) # we
# tend to miss the final waypoint by a fair bit, and
# this is probably too noisy anyway?
self.wait_disarmed(timeout=timeout) self.wait_disarmed(timeout=timeout)
def fly_flaps(self): def fly_flaps(self):
@ -865,7 +872,8 @@ class AutoTestPlane(AutoTest):
self.context_collect("HEARTBEAT") self.context_collect("HEARTBEAT")
self.set_parameter("SIM_RC_FAIL", 2) # throttle-to-950 self.set_parameter("SIM_RC_FAIL", 2) # throttle-to-950
self.wait_mode('RTL') # long failsafe self.wait_mode('RTL') # long failsafe
if (not self.get_mode_from_mode_mapping("CIRCLE") in [x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]): if (not self.get_mode_from_mode_mapping("CIRCLE") in
[x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]):
raise NotAchievedException("Did not go via circle mode") raise NotAchievedException("Did not go via circle mode")
self.progress("Ensure we've had our throttle squashed to 950") self.progress("Ensure we've had our throttle squashed to 950")
self.wait_rc_channel_value(3, 950) self.wait_rc_channel_value(3, 950)
@ -902,7 +910,8 @@ class AutoTestPlane(AutoTest):
self.context_collect("HEARTBEAT") self.context_collect("HEARTBEAT")
self.set_parameter("SIM_RC_FAIL", 1) # no-pulses self.set_parameter("SIM_RC_FAIL", 1) # no-pulses
self.wait_mode('RTL') # long failsafe self.wait_mode('RTL') # long failsafe
if (not self.get_mode_from_mode_mapping("CIRCLE") in [x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]): if (not self.get_mode_from_mode_mapping("CIRCLE") in
[x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]):
raise NotAchievedException("Did not go via circle mode") raise NotAchievedException("Did not go via circle mode")
self.drain_mav_unparsed() self.drain_mav_unparsed()
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
@ -1035,10 +1044,11 @@ class AutoTestPlane(AutoTest):
m = self.mav.recv_match(type='SYS_STATUS', blocking=True, timeout=1) m = self.mav.recv_match(type='SYS_STATUS', blocking=True, timeout=1)
if m is None: if m is None:
raise NotAchievedException("Did not receive SYS_STATUS") raise NotAchievedException("Did not receive SYS_STATUS")
tests = [ ( "present", present, m.onboard_control_sensors_present ), tests = [
( "enabled", enabled, m.onboard_control_sensors_enabled ), ("present", present, m.onboard_control_sensors_present),
( "health", health, m.onboard_control_sensors_health ), ("enabled", enabled, m.onboard_control_sensors_enabled),
] ("health", health, m.onboard_control_sensors_health),
]
bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
for test in tests: for test in tests:
(name, want, field) = test (name, want, field) = test
@ -1119,7 +1129,7 @@ class AutoTestPlane(AutoTest):
self.load_fence("CMAC-fence.txt") self.load_fence("CMAC-fence.txt")
m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=2) m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=2)
if m is not None: if m is not None:
raise NotAchievedException("Got FENCE_STATUS unexpectedly"); raise NotAchievedException("Got FENCE_STATUS unexpectedly")
self.drain_mav_unparsed() self.drain_mav_unparsed()
self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_NONE) # report only self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_NONE) # report only
self.assert_fence_sys_status(False, False, True) self.assert_fence_sys_status(False, False, True)
@ -1130,7 +1140,7 @@ class AutoTestPlane(AutoTest):
self.assert_fence_sys_status(True, True, True) self.assert_fence_sys_status(True, True, True)
m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=2) m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=2)
if m is None: if m is None:
raise NotAchievedException("Did not get FENCE_STATUS"); raise NotAchievedException("Did not get FENCE_STATUS")
if m.breach_status: if m.breach_status:
raise NotAchievedException("Breached fence unexpectedly (%u)" % raise NotAchievedException("Breached fence unexpectedly (%u)" %
(m.breach_status)) (m.breach_status))
@ -1192,7 +1202,7 @@ class AutoTestPlane(AutoTest):
raise NotAchievedException("Did not breach fence") raise NotAchievedException("Did not breach fence")
m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=2) m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=2)
if m is None: if m is None:
raise NotAchievedException("Did not get FENCE_STATUS"); raise NotAchievedException("Did not get FENCE_STATUS")
if m.breach_status == 0: if m.breach_status == 0:
continue continue
@ -1367,6 +1377,7 @@ class AutoTestPlane(AutoTest):
self.simstate = None self.simstate = None
self.last_print = 0 self.last_print = 0
self.max_divergence = 0 self.max_divergence = 0
def validate_global_position_int_against_simstate(mav, m): def validate_global_position_int_against_simstate(mav, m):
if m.get_type() == 'GLOBAL_POSITION_INT': if m.get_type() == 'GLOBAL_POSITION_INT':
self.gpi = m self.gpi = m
@ -1406,8 +1417,8 @@ class AutoTestPlane(AutoTest):
mavutil.mavlink.MAV_DO_REPOSITION_FLAGS_CHANGE_MODE, mavutil.mavlink.MAV_DO_REPOSITION_FLAGS_CHANGE_MODE,
0, 0,
0, 0,
int(loc.lat*1e7), int(loc.lat * 1e7),
int(loc.lng*1e7), int(loc.lng * 1e7),
100, # alt 100, # alt
frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
) )
@ -1512,7 +1523,9 @@ class AutoTestPlane(AutoTest):
if gpi is None: if gpi is None:
raise NotAchievedException("Did not receive GLOBAL_POSITION_INT message") raise NotAchievedException("Did not receive GLOBAL_POSITION_INT message")
if abs(rf.distance - gpi.relative_alt/1000.0) > 3: 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)) raise NotAchievedException(
"rangefinder alt (%s) disagrees with global-position-int.relative_alt (%s)" %
(rf.distance, gpi.relative_alt/1000.0))
self.wait_statustext("Auto disarmed", timeout=60) self.wait_statustext("Auto disarmed", timeout=60)
self.progress("Ensure RFND messages in log") self.progress("Ensure RFND messages in log")
@ -1544,7 +1557,6 @@ class AutoTestPlane(AutoTest):
self.change_mode("FBWA") # we don't update PIDs in MANUAL self.change_mode("FBWA") # we don't update PIDs in MANUAL
super(AutoTestPlane, self).test_pid_tuning() super(AutoTestPlane, self).test_pid_tuning()
def test_setting_modes_via_auxswitches(self): def test_setting_modes_via_auxswitches(self):
self.set_parameter("FLTMODE1", 1) # circle self.set_parameter("FLTMODE1", 1) # circle
self.set_rc(8, 950) self.set_rc(8, 950)
@ -1590,19 +1602,20 @@ class AutoTestPlane(AutoTest):
def test_adsb_send_threatening_adsb_message(self, here): def test_adsb_send_threatening_adsb_message(self, here):
self.progress("Sending ABSD_VEHICLE message") self.progress("Sending ABSD_VEHICLE message")
self.mav.mav.adsb_vehicle_send(37, # ICAO address self.mav.mav.adsb_vehicle_send(
int(here.lat * 1e7), 37, # ICAO address
int(here.lng * 1e7), int(here.lat * 1e7),
mavutil.mavlink.ADSB_ALTITUDE_TYPE_PRESSURE_QNH, int(here.lng * 1e7),
int(here.alt*1000 + 10000), # 10m up mavutil.mavlink.ADSB_ALTITUDE_TYPE_PRESSURE_QNH,
0, # heading in cdeg int(here.alt*1000 + 10000), # 10m up
0, # horizontal velocity cm/s 0, # heading in cdeg
0, # vertical velocity cm/s 0, # horizontal velocity cm/s
"bob".encode("ascii"), # callsign 0, # vertical velocity cm/s
mavutil.mavlink.ADSB_EMITTER_TYPE_LIGHT, "bob".encode("ascii"), # callsign
1, # time since last communication mavutil.mavlink.ADSB_EMITTER_TYPE_LIGHT,
65535, # flags 1, # time since last communication
17 # squawk 65535, # flags
17 # squawk
) )
def test_adsb(self): def test_adsb(self):
@ -1633,19 +1646,20 @@ class AutoTestPlane(AutoTest):
self.wait_mode("RTL") self.wait_mode("RTL")
self.progress("Sending far-away ABSD_VEHICLE message") self.progress("Sending far-away ABSD_VEHICLE message")
self.mav.mav.adsb_vehicle_send(37, # ICAO address self.mav.mav.adsb_vehicle_send(
int(here.lat+1 * 1e7), 37, # ICAO address
int(here.lng * 1e7), int(here.lat+1 * 1e7),
mavutil.mavlink.ADSB_ALTITUDE_TYPE_PRESSURE_QNH, int(here.lng * 1e7),
int(here.alt*1000 + 10000), # 10m up mavutil.mavlink.ADSB_ALTITUDE_TYPE_PRESSURE_QNH,
0, # heading in cdeg int(here.alt*1000 + 10000), # 10m up
0, # horizontal velocity cm/s 0, # heading in cdeg
0, # vertical velocity cm/s 0, # horizontal velocity cm/s
"bob".encode("ascii"), # callsign 0, # vertical velocity cm/s
mavutil.mavlink.ADSB_EMITTER_TYPE_LIGHT, "bob".encode("ascii"), # callsign
1, # time since last communication mavutil.mavlink.ADSB_EMITTER_TYPE_LIGHT,
65535, # flags 1, # time since last communication
17 # squawk 65535, # flags
17 # squawk
) )
self.wait_for_collision_threat_to_clear() self.wait_for_collision_threat_to_clear()
self.change_mode("FBWA") self.change_mode("FBWA")
@ -1689,8 +1703,8 @@ class AutoTestPlane(AutoTest):
0, # p2 0, # p2
0, # p3 0, # p3
0, # p4 0, # p4
int(loc.lat *1e7), # latitude int(loc.lat * 1e7), # latitude
int(loc.lng *1e7), # longitude int(loc.lng * 1e7), # longitude
loc.alt, # altitude loc.alt, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_MISSION) mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
m = self.mav.recv_match(type='MISSION_ACK', blocking=True, timeout=5) m = self.mav.recv_match(type='MISSION_ACK', blocking=True, timeout=5)
@ -1713,8 +1727,8 @@ class AutoTestPlane(AutoTest):
0, # p2 0, # p2
0, # p3 0, # p3
0, # p4 0, # p4
int(loc.lat *1e7), # latitude int(loc.lat * 1e7), # latitude
int(loc.lng *1e7), # longitude int(loc.lng * 1e7), # longitude
desired_relative_alt, # altitude desired_relative_alt, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_MISSION) mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
m = self.mav.recv_match(type='MISSION_ACK', blocking=True, timeout=5) m = self.mav.recv_match(type='MISSION_ACK', blocking=True, timeout=5)
@ -1796,16 +1810,16 @@ class AutoTestPlane(AutoTest):
def fly_soaring(self): def fly_soaring(self):
model="plane-soaring" model = "plane-soaring"
self.customise_SITL_commandline([], self.customise_SITL_commandline(
model=model, [],
defaults_filepath=self.model_defaults_filepath("ArduPlane",model), model=model,
wipe=True) defaults_filepath=self.model_defaults_filepath("ArduPlane", model),
wipe=True)
self.load_mission('CMAC-soar.txt') self.load_mission('CMAC-soar.txt')
self.mavproxy.send("wp set 1\n") self.mavproxy.send("wp set 1\n")
self.change_mode('AUTO') self.change_mode('AUTO')
self.wait_ready_to_arm() self.wait_ready_to_arm()
@ -1815,21 +1829,21 @@ class AutoTestPlane(AutoTest):
rc_chan = 0 rc_chan = 0
for i in range(8): for i in range(8):
rcx_option = self.get_parameter('RC{0}_OPTION'.format(i+1)) rcx_option = self.get_parameter('RC{0}_OPTION'.format(i+1))
if rcx_option==88: if rcx_option == 88:
rc_chan = i+1; rc_chan = i+1
break break
if rc_chan==0: if rc_chan == 0:
raise NotAchievedException("Did not find soaring enable channel option.") raise NotAchievedException("Did not find soaring enable channel option.")
self.set_rc_from_map({ self.set_rc_from_map({
rc_chan: 1900, rc_chan: 1900,
3: 1500, # Use trim airspeed. 3: 1500, # Use trim airspeed.
}); })
# Wait to detect thermal # Wait to detect thermal
self.progress("Waiting for thermal") self.progress("Waiting for thermal")
self.wait_mode('THERMAL',timeout=600) self.wait_mode('THERMAL', timeout=600)
# Wait to climb to SOAR_ALT_MAX # Wait to climb to SOAR_ALT_MAX
self.progress("Waiting for climb to max altitude") self.progress("Waiting for climb to max altitude")
@ -1843,7 +1857,6 @@ class AutoTestPlane(AutoTest):
# Disable thermals # Disable thermals
self.set_parameter("SIM_THML_SCENARI", 0) self.set_parameter("SIM_THML_SCENARI", 0)
# Wait to descend to SOAR_ALT_MIN # Wait to descend to SOAR_ALT_MIN
self.progress("Waiting for glide to min altitude") self.progress("Waiting for glide to min altitude")
alt_min = self.get_parameter('SOAR_ALT_MIN') alt_min = self.get_parameter('SOAR_ALT_MIN')
@ -1867,7 +1880,7 @@ class AutoTestPlane(AutoTest):
self.set_parameter("SOAR_ENABLE", 0) self.set_parameter("SOAR_ENABLE", 0)
self.delay_sim_time(10) self.delay_sim_time(10)
#And reenable. This should force throttle-down # And reenable. This should force throttle-down
self.set_parameter("SOAR_ENABLE", 1) self.set_parameter("SOAR_ENABLE", 1)
self.delay_sim_time(10) self.delay_sim_time(10)
@ -1888,7 +1901,7 @@ class AutoTestPlane(AutoTest):
# Wait to get back to waypoint before thermal. # Wait to get back to waypoint before thermal.
self.progress("Waiting to get back to position") self.progress("Waiting to get back to position")
self.wait_current_waypoint(3,timeout=1200) self.wait_current_waypoint(3, timeout=1200)
# Enable soaring with mode changes suppressed) # Enable soaring with mode changes suppressed)
self.set_rc(rc_chan, 1500) self.set_rc(rc_chan, 1500)
@ -1897,7 +1910,7 @@ class AutoTestPlane(AutoTest):
self.wait_servo_channel_value(3, 1200, timeout=2, comparator=operator.lt) self.wait_servo_channel_value(3, 1200, timeout=2, comparator=operator.lt)
self.progress("Waiting for next WP with no thermalling") self.progress("Waiting for next WP with no thermalling")
self.wait_waypoint(4,4,timeout=1200,max_dist=120) self.wait_waypoint(4, 4, timeout=1200, max_dist=120)
# Disarm # Disarm
self.disarm_vehicle() self.disarm_vehicle()
@ -1933,7 +1946,7 @@ class AutoTestPlane(AutoTest):
self.reboot_sitl() self.reboot_sitl()
self.progress("Running accelcal") self.progress("Running accelcal")
self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
0,0,0,0,4,0,0, 0, 0, 0, 0, 4, 0, 0,
timeout=5) timeout=5)
self.wait_ready_to_arm() self.wait_ready_to_arm()
@ -2001,20 +2014,20 @@ class AutoTestPlane(AutoTest):
self.set_parameter("SIM_IMUT_FIXED", 12) self.set_parameter("SIM_IMUT_FIXED", 12)
self.progress("Running accel cal") self.progress("Running accel cal")
self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
0,0,0,0,4,0,0, 0, 0, 0, 0, 4, 0, 0,
timeout=5) timeout=5)
self.progress("Running gyro cal") self.progress("Running gyro cal")
self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
0,0,0,0,1,0,0, 0, 0, 0, 0, 1, 0, 0,
timeout=5) timeout=5)
self.set_parameters({ self.set_parameters({
"SIM_IMUT_FIXED" : 0, "SIM_IMUT_FIXED": 0,
"INS_TCAL1_ENABLE" : 2, "INS_TCAL1_ENABLE": 2,
"INS_TCAL1_TMAX" : 42, "INS_TCAL1_TMAX": 42,
"INS_TCAL2_ENABLE" : 2, "INS_TCAL2_ENABLE": 2,
"INS_TCAL2_TMAX" : 42, "INS_TCAL2_TMAX": 42,
"SIM_SPEEDUP" : 200, "SIM_SPEEDUP": 200,
}) })
self.set_streamrate(1) self.set_streamrate(1)
self.set_parameter("LOG_DISARMED", 1) self.set_parameter("LOG_DISARMED", 1)
self.reboot_sitl() self.reboot_sitl()
@ -2034,7 +2047,7 @@ class AutoTestPlane(AutoTest):
self.progress("Testing with compensation enabled") self.progress("Testing with compensation enabled")
test_temperatures = range(10,45,5) test_temperatures = range(10, 45, 5)
corrected = {} corrected = {}
uncorrected = {} uncorrected = {}
@ -2053,7 +2066,7 @@ class AutoTestPlane(AutoTest):
accel = self.get_accelvec(m) accel = self.get_accelvec(m)
gyro = self.get_gyrovec(m) gyro = self.get_gyrovec(m)
accel2 = accel + Vector3(0,0,9.81) accel2 = accel + Vector3(0, 0, 9.81)
corrected[temperature] = (accel2, gyro) corrected[temperature] = (accel2, gyro)
@ -2081,7 +2094,7 @@ class AutoTestPlane(AutoTest):
accel = self.get_accelvec(m) accel = self.get_accelvec(m)
gyro = self.get_gyrovec(m) gyro = self.get_gyrovec(m)
accel2 = accel + Vector3(0,0,9.81) accel2 = accel + Vector3(0, 0, 9.81)
uncorrected[temperature] = (accel2, gyro) uncorrected[temperature] = (accel2, gyro)
for temp in test_temperatures: for temp in test_temperatures:
@ -2093,7 +2106,7 @@ class AutoTestPlane(AutoTest):
(accel, gyro) = uncorrected[temp] (accel, gyro) = uncorrected[temp]
self.progress("Uncorrected gyro at %.1f %s" % (temp, gyro)) self.progress("Uncorrected gyro at %.1f %s" % (temp, gyro))
self.progress("Uncorrected accel at %.1f %s" % (temp, accel)) self.progress("Uncorrected accel at %.1f %s" % (temp, accel))
bad_value = False bad_value = False
for temp in test_temperatures: for temp in test_temperatures:
(accel, gyro) = corrected[temp] (accel, gyro) = corrected[temp]
@ -2113,7 +2126,6 @@ class AutoTestPlane(AutoTest):
if not bad_value: if not bad_value:
raise NotAchievedException("uncompensated IMUs did not vary enough") raise NotAchievedException("uncompensated IMUs did not vary enough")
def ekf_lane_switch(self): def ekf_lane_switch(self):
self.context_push() self.context_push()
@ -2139,6 +2151,7 @@ class AutoTestPlane(AutoTest):
self.reboot_sitl() self.reboot_sitl()
self.lane_switches = [] self.lane_switches = []
# add an EKF lane switch hook # add an EKF lane switch hook
def statustext_hook(mav, message): def statustext_hook(mav, message):
if message.get_type() != 'STATUSTEXT': if message.get_type() != 'STATUSTEXT':
@ -2147,7 +2160,7 @@ class AutoTestPlane(AutoTest):
if not message.text.startswith("EKF3 lane switch "): if not message.text.startswith("EKF3 lane switch "):
return return
newlane = int(message.text[-1]) newlane = int(message.text[-1])
self.lane_switches.append(newlane) self.lane_switches.append(newlane)
self.install_message_hook(statustext_hook) self.install_message_hook(statustext_hook)
# get flying # get flying
@ -2155,14 +2168,18 @@ class AutoTestPlane(AutoTest):
self.change_mode('CIRCLE') self.change_mode('CIRCLE')
try: try:
##################################################################################################################################################### ###################################################################
self.progress("Checking EKF3 Lane Switching trigger from all sensors") self.progress("Checking EKF3 Lane Switching trigger from all sensors")
##################################################################################################################################################### ###################################################################
self.start_subtest("ACCELEROMETER: Change z-axis offset") self.start_subtest("ACCELEROMETER: Change z-axis offset")
# create an accelerometer error by changing the Z-axis offset # create an accelerometer error by changing the Z-axis offset
self.context_collect("STATUSTEXT") self.context_collect("STATUSTEXT")
old_parameter = self.get_parameter("INS_ACCOFFS_Z") old_parameter = self.get_parameter("INS_ACCOFFS_Z")
self.wait_statustext(text="EKF3 lane switch", timeout=30, the_function=self.set_parameter("INS_ACCOFFS_Z", old_parameter + 5), check_context=True) self.wait_statustext(
text="EKF3 lane switch",
timeout=30,
the_function=self.set_parameter("INS_ACCOFFS_Z", old_parameter + 5),
check_context=True)
if self.lane_switches != [1]: if self.lane_switches != [1]:
raise NotAchievedException("Expected lane switch 1, got %s" % str(self.lane_switches[-1])) raise NotAchievedException("Expected lane switch 1, got %s" % str(self.lane_switches[-1]))
# Cleanup # Cleanup
@ -2170,13 +2187,17 @@ class AutoTestPlane(AutoTest):
self.context_clear_collection("STATUSTEXT") self.context_clear_collection("STATUSTEXT")
self.wait_heading(0, accuracy=10, timeout=60) self.wait_heading(0, accuracy=10, timeout=60)
self.wait_heading(180, accuracy=10, timeout=60) self.wait_heading(180, accuracy=10, timeout=60)
##################################################################################################################################################### ###################################################################
self.start_subtest("BAROMETER: Freeze to last measured value") self.start_subtest("BAROMETER: Freeze to last measured value")
self.context_collect("STATUSTEXT") self.context_collect("STATUSTEXT")
# create a barometer error by inhibiting any pressure change while changing altitude # create a barometer error by inhibiting any pressure change while changing altitude
old_parameter = self.get_parameter("SIM_BAR2_FREEZE") old_parameter = self.get_parameter("SIM_BAR2_FREEZE")
self.set_parameter("SIM_BAR2_FREEZE", 1) self.set_parameter("SIM_BAR2_FREEZE", 1)
self.wait_statustext(text="EKF3 lane switch", timeout=30, the_function=lambda: self.set_rc(2, 2000), check_context=True) self.wait_statustext(
text="EKF3 lane switch",
timeout=30,
the_function=lambda: self.set_rc(2, 2000),
check_context=True)
if self.lane_switches != [1, 0]: if self.lane_switches != [1, 0]:
raise NotAchievedException("Expected lane switch 0, got %s" % str(self.lane_switches[-1])) raise NotAchievedException("Expected lane switch 0, got %s" % str(self.lane_switches[-1]))
# Cleanup # Cleanup
@ -2185,11 +2206,13 @@ class AutoTestPlane(AutoTest):
self.context_clear_collection("STATUSTEXT") self.context_clear_collection("STATUSTEXT")
self.wait_heading(0, accuracy=10, timeout=60) self.wait_heading(0, accuracy=10, timeout=60)
self.wait_heading(180, accuracy=10, timeout=60) self.wait_heading(180, accuracy=10, timeout=60)
##################################################################################################################################################### ###################################################################
self.start_subtest("GPS: Apply GPS Velocity Error in NED") self.start_subtest("GPS: Apply GPS Velocity Error in NED")
self.context_push() self.context_push()
self.context_collect("STATUSTEXT") self.context_collect("STATUSTEXT")
# create a GPS velocity error by adding a random 2m/s noise on each axis
# create a GPS velocity error by adding a random 2m/s
# noise on each axis
def sim_gps_verr(): def sim_gps_verr():
self.set_parameters({ self.set_parameters({
"SIM_GPS_VERR_X": self.get_parameter("SIM_GPS_VERR_X") + 2, "SIM_GPS_VERR_X": self.get_parameter("SIM_GPS_VERR_X") + 2,
@ -2204,12 +2227,16 @@ class AutoTestPlane(AutoTest):
self.context_clear_collection("STATUSTEXT") self.context_clear_collection("STATUSTEXT")
self.wait_heading(0, accuracy=10, timeout=60) self.wait_heading(0, accuracy=10, timeout=60)
self.wait_heading(180, accuracy=10, timeout=60) self.wait_heading(180, accuracy=10, timeout=60)
##################################################################################################################################################### ###################################################################
self.start_subtest("MAGNETOMETER: Change X-Axis Offset") self.start_subtest("MAGNETOMETER: Change X-Axis Offset")
self.context_collect("STATUSTEXT") self.context_collect("STATUSTEXT")
# create a magnetometer error by changing the X-axis offset # create a magnetometer error by changing the X-axis offset
old_parameter = self.get_parameter("SIM_MAG2_OFS_X") old_parameter = self.get_parameter("SIM_MAG2_OFS_X")
self.wait_statustext(text="EKF3 lane switch", timeout=30, the_function=self.set_parameter("SIM_MAG2_OFS_X", old_parameter + 150), check_context=True) self.wait_statustext(
text="EKF3 lane switch",
timeout=30,
the_function=self.set_parameter("SIM_MAG2_OFS_X", old_parameter + 150),
check_context=True)
if self.lane_switches != [1, 0, 1, 0]: if self.lane_switches != [1, 0, 1, 0]:
raise NotAchievedException("Expected lane switch 0, got %s" % str(self.lane_switches[-1])) raise NotAchievedException("Expected lane switch 0, got %s" % str(self.lane_switches[-1]))
# Cleanup # Cleanup
@ -2217,14 +2244,16 @@ class AutoTestPlane(AutoTest):
self.context_clear_collection("STATUSTEXT") self.context_clear_collection("STATUSTEXT")
self.wait_heading(0, accuracy=10, timeout=60) self.wait_heading(0, accuracy=10, timeout=60)
self.wait_heading(180, accuracy=10, timeout=60) self.wait_heading(180, accuracy=10, timeout=60)
##################################################################################################################################################### ###################################################################
self.start_subtest("AIRSPEED: Fail to constant value") self.start_subtest("AIRSPEED: Fail to constant value")
self.context_push() self.context_push()
self.context_collect("STATUSTEXT") self.context_collect("STATUSTEXT")
# create an airspeed sensor error by freezing to the current airspeed then changing the groundspeed # create an airspeed sensor error by freezing to the
# current airspeed then changing the groundspeed
old_parameter = self.get_parameter("SIM_ARSPD_FAIL") old_parameter = self.get_parameter("SIM_ARSPD_FAIL")
m = self.mav.recv_match(type='VFR_HUD', blocking=True) m = self.mav.recv_match(type='VFR_HUD', blocking=True)
self.set_parameter("SIM_ARSPD_FAIL", m.airspeed) self.set_parameter("SIM_ARSPD_FAIL", m.airspeed)
def change_speed(): def change_speed():
self.change_mode("GUIDED") self.change_mode("GUIDED")
self.run_cmd_int( self.run_cmd_int(
@ -2233,8 +2262,8 @@ class AutoTestPlane(AutoTest):
0, 0,
0, 0,
0, 0,
12345, # lat*1e7 12345, # lat* 1e7
12345, # lon*1e7 12345, # lon* 1e7
50 # alt 50 # alt
) )
self.delay_sim_time(5) self.delay_sim_time(5)
@ -2258,21 +2287,25 @@ class AutoTestPlane(AutoTest):
self.context_clear_collection("STATUSTEXT") self.context_clear_collection("STATUSTEXT")
self.wait_heading(0, accuracy=10, timeout=60) self.wait_heading(0, accuracy=10, timeout=60)
self.wait_heading(180, accuracy=10, timeout=60) self.wait_heading(180, accuracy=10, timeout=60)
##################################################################################################################################################### ###################################################################
self.progress("GYROSCOPE: Change Y-Axis Offset") self.progress("GYROSCOPE: Change Y-Axis Offset")
self.context_collect("STATUSTEXT") self.context_collect("STATUSTEXT")
# create a gyroscope error by changing the Y-axis offset # create a gyroscope error by changing the Y-axis offset
old_parameter = self.get_parameter("INS_GYR2OFFS_Y") old_parameter = self.get_parameter("INS_GYR2OFFS_Y")
self.wait_statustext(text="EKF3 lane switch", timeout=30, the_function=self.set_parameter("INS_GYR2OFFS_Y", old_parameter + 1), check_context=True) self.wait_statustext(
text="EKF3 lane switch",
timeout=30,
the_function=self.set_parameter("INS_GYR2OFFS_Y", old_parameter + 1),
check_context=True)
if self.lane_switches != [1, 0, 1, 0, 1, 0]: if self.lane_switches != [1, 0, 1, 0, 1, 0]:
raise NotAchievedException("Expected lane switch 0, got %s" % str(self.lane_switches[-1])) raise NotAchievedException("Expected lane switch 0, got %s" % str(self.lane_switches[-1]))
# Cleanup # Cleanup
self.set_parameter("INS_GYR2OFFS_Y", old_parameter) self.set_parameter("INS_GYR2OFFS_Y", old_parameter)
self.context_clear_collection("STATUSTEXT") self.context_clear_collection("STATUSTEXT")
##################################################################################################################################################### ###################################################################
self.disarm_vehicle() self.disarm_vehicle()
except Exception as e: except Exception as e:
self.progress("Caught exception: %s" % self.get_exception_stacktrace(e)) self.progress("Caught exception: %s" % self.get_exception_stacktrace(e))
ex = e ex = e
@ -2397,8 +2430,8 @@ class AutoTestPlane(AutoTest):
self.test_large_missions), self.test_large_missions),
("Soaring", ("Soaring",
"Test Soaring feature", "Test Soaring feature",
self.fly_soaring), self.fly_soaring),
("Terrain", ("Terrain",
"Test terrain following in mission", "Test terrain following in mission",
@ -2407,7 +2440,7 @@ class AutoTestPlane(AutoTest):
("ExternalAHRS", ("ExternalAHRS",
"Test external AHRS support", "Test external AHRS support",
self.fly_external_AHRS), self.fly_external_AHRS),
("Deadreckoning", ("Deadreckoning",
"Test deadreckoning support", "Test deadreckoning support",
self.deadreckoning), self.deadreckoning),