mirror of https://github.com/ArduPilot/ardupilot
autotest: switch QuadPlane mission to full OBC2016 mission in Dalby
This commit is contained in:
Andrew Tridgell
parent
eec1b95f69
commit
62b6057249
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@ -1,18 +1,20 @@
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QGC WPL 110
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0 1 0 16 0.000000 0.000000 0.000000 0.000000 -27.275917 151.288956 343.380005 1
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1 0 3 22 10.000000 0.000000 0.000000 0.000000 -27.272867 151.290298 20.000000 1
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2 1 3 16 0.000000 0.000000 0.000000 0.000000 -27.272703 151.298172 100.000000 1
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3 1 3 16 0.000000 0.000000 0.000000 0.000000 -27.277561 151.337250 100.000000 1
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4 1 3 16 0.000000 0.000000 0.000000 0.000000 -27.281748 151.335953 100.000000 1
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5 1 3 16 0.000000 0.000000 0.000000 0.000000 -27.275724 151.289932 100.000000 1
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6 1 3 16 0.000000 0.000000 0.000000 0.000000 -27.297457 151.285629 100.000000 1
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7 1 3 16 0.000000 0.000000 0.000000 0.000000 -27.308109 151.354279 100.000000 1
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8 1 3 16 0.000000 0.000000 0.000000 0.000000 -27.332256 151.376282 100.000000 1
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9 1 3 16 0.000000 0.000000 0.000000 0.000000 -27.308224 151.354538 100.000000 1
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10 1 3 16 0.000000 0.000000 0.000000 0.000000 -27.297340 151.285370 100.000000 1
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11 1 3 16 0.000000 0.000000 0.000000 0.000000 -27.275724 151.289932 100.000000 1
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12 1 3 16 0.000000 0.000000 0.000000 0.000000 -27.281631 151.335953 100.000000 1
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13 1 3 16 0.000000 0.000000 0.000000 0.000000 -27.277679 151.337128 100.000000 1
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14 1 3 16 0.000000 0.000000 0.000000 0.000000 -27.272585 151.298294 100.000000 1
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15 1 3 16 0.000000 0.000000 0.000000 0.000000 -27.271421 151.290482 30.000000 1
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16 0 3 21 0.000000 0.000000 0.000000 0.000000 -27.274094 151.290100 0.000000 1
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0 0 0 16 0.000000 0.000000 0.000000 0.000000 -27.274094 151.290100 343.100006 1
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1 0 3 84 0.000000 0.000000 0.000000 0.000000 -27.272867 151.290298 10.000000 1
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2 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.272703 151.298172 100.000000 1
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3 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.277561 151.337250 100.000000 1
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4 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.281748 151.335953 100.000000 1
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5 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.275724 151.289932 100.000000 1
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6 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.297457 151.285629 100.000000 1
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7 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.308109 151.354279 100.000000 1
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8 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.331802 151.375610 40.529999 1
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9 0 10 85 0.000000 0.000000 0.000000 0.000000 -27.332270 151.375854 0.000000 1
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10 0 10 84 0.000000 0.000000 0.000000 0.000000 -27.332270 151.375854 40.000000 1
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11 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.308224 151.354538 100.000000 1
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12 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.297340 151.285370 100.000000 1
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13 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.275724 151.289932 100.000000 1
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14 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.281631 151.335953 100.000000 1
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15 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.277679 151.337128 100.000000 1
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16 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.272585 151.298294 100.000000 1
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17 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.271421 151.290482 30.000000 1
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18 0 10 85 0.000000 0.000000 0.000000 0.000000 -27.274094 151.290100 0.000000 1
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@ -9,22 +9,31 @@ import random
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testdir=os.path.dirname(os.path.realpath(__file__))
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#HOME_LOCATION='-27.274439,151.290064,343,8.7'
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HOME_LOCATION='-35.362938,149.165085,585,354'
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HOME_LOCATION='-27.274439,151.290064,343,8.7'
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MISSION='ArduPlane-Missions/Dalby-OBC2016.txt'
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FENCE='ArduPlane-Missions/Dalby-OBC2016-fence.txt'
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WIND="0,180,0.2" # speed,direction,variance
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homeloc = None
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def fly_mission(mavproxy, mav, filename, height_accuracy=-1):
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def fly_mission(mavproxy, mav, filename, fence, height_accuracy=-1):
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'''fly a mission from a file'''
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print("Flying mission %s" % filename)
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mavproxy.send('wp load %s\n' % filename)
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mavproxy.expect('Flight plan received')
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mavproxy.send('fence load %s\n' % fence)
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mavproxy.send('wp list\n')
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mavproxy.expect('Requesting [0-9]+ waypoints')
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mavproxy.send('mode AUTO\n')
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wait_mode(mav, 'AUTO')
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if not wait_waypoint(mav, 1, 12, max_dist=60):
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if not wait_waypoint(mav, 1, 9, max_dist=60):
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return False
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mavproxy.expect('DISARMED')
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# wait for blood sample here
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mavproxy.send('wp set 10\n')
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mavproxy.send('arm throttle\n')
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mavproxy.expect('ARMED')
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if not wait_waypoint(mav, 10, 18, max_dist=60):
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return False
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mavproxy.expect('DISARMED')
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print("Mission OK")
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@ -45,7 +54,7 @@ def fly_QuadPlane(viewerip=None, map=False):
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if map:
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options += ' --map'
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sil = util.start_SIL('ArduPlane', model='quadplane', wipe=True, home=HOME_LOCATION, speedup=10,
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sil = util.start_SIL('ArduPlane', model='quadplane', wipe=True, home=HOME_LOCATION, speedup=20,
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defaults_file=os.path.join(testdir, 'quadplane.parm'))
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mavproxy = util.start_MAVProxy_SIL('QuadPlane', options=options)
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mavproxy.expect('Telemetry log: (\S+)')
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@ -98,7 +107,9 @@ def fly_QuadPlane(viewerip=None, map=False):
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mavproxy.send('arm throttle\n')
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mavproxy.expect('ARMED')
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if not fly_mission(mavproxy, mav, os.path.join(testdir, "ArduPlane-Missions/CMAC-VTOL-ccw.txt")):
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if not fly_mission(mavproxy, mav,
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os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt"),
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os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016-fence.txt")):
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print("Failed mission")
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failed = True
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if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/QuadPlane-log.bin")):
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