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Tools: autotest: increase test diagnostics

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Tools: autotest: improve wait_distance_home_gt output

Tools: autotest: emit progress for parameter sets

Tools: autotest: add progress for RC health checks

Tools: autotest: remove pointless context
This commit is contained in:
Peter Barker 2019-03-08 10:06:46 +11:00 committed by Peter Barker
parent c5c67362fa
commit 6418226106
3 changed files with 12 additions and 4 deletions
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5
Tools/autotest/apmrover2.py
View File

@ -500,8 +500,11 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
tstart = self.get_sim_time()
while self.get_sim_time_cached() - tstart < timeout:
# m = self.mav.recv_match(type='VFR_HUD', blocking=True)
if self.distance_to_home() > distance:
distance_home = self.distance_to_home(use_cached_home=True)
self.progress("distance_home=%f want=%f" % (distance_home, distance))
if distance_home > distance:
return
self.drain_mav()
raise NotAchievedException("Failed to get %fm from home (now=%f)" %
(distance, home_distance))

1
Tools/autotest/arduplane.py
View File

@ -771,6 +771,7 @@ class AutoTestPlane(AutoTest):
self.progress("Testing receiver health")
if (m.onboard_control_sensors_health & receiver_bit):
raise NotAchievedException("Sensor healthy when it shouldn't be")
self.progress("Making RC work again")
self.set_parameter("SIM_RC_FAIL", 0)
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)

10
Tools/autotest/common.py
View File

@ -944,6 +944,7 @@ class AutoTest(ABC):
def set_parameter(self, name, value, add_to_context=True, epsilon=0.00001):
"""Set parameters from vehicle."""
self.progress("Setting %s to %f" % (name, value))
old_value = self.get_parameter(name, retry=2)
for i in range(1, 10):
self.mavproxy.send("param set %s %s\n" % (name, str(value)))
@ -1461,19 +1462,24 @@ class AutoTest(ABC):
"%.4f,%.4f at altitude %.1f height_accuracy=%.1f" %
(loc.lat, loc.lng, target_altitude, height_accuracy))
last_distance_message = 0
closest = 10000000
last = 0
while self.get_sim_time() < tstart + timeout:
pos = self.mav.location()
delta = self.get_distance(loc, pos)
if self.get_sim_time_cached() - last_distance_message >= 1:
self.progress("Distance %.2f meters alt %.1f" % (delta, pos.alt))
last_distance_message = self.get_sim_time_cached()
if closest > delta:
closest = delta
last = delta
if delta <= accuracy:
height_delta = math.fabs(pos.alt - target_altitude)
if height_accuracy != -1 and height_delta > height_accuracy:
continue
self.progress("Reached location (%.2f meters)" % delta)
return True
raise WaitLocationTimeout("Failed to attain location")
raise WaitLocationTimeout("Failed to attain location (want=<%f) (closest=%f)" % (accuracy, closest, last))
def wait_current_waypoint(self, wpnum, timeout=60):
tstart = self.get_sim_time()
@ -1849,7 +1855,6 @@ class AutoTest(ABC):
def test_arm_feature(self):
"""Common feature to test."""
self.context_push()
# TEST ARMING/DISARM
self.set_parameter("ARMING_RUDDER", 2) # allow arm and disarm with rudder on first tests
interlock_channel = 8 # Plane got flighmode_ch on channel 8
@ -1980,7 +1985,6 @@ class AutoTest(ABC):
raise NotAchievedException("Motor interlock was changed while disarmed")
self.set_rc(interlock_channel, 1000)
self.progress("ALL PASS")
self.context_pop()
# TODO : add failure test : arming check, wrong mode; Test arming magic; Same for disarm
def get_message_rate(self, victim_message, timeout):