Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-05 15:33:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

autotest: fly CopterAVC mission as a helicopter

Browse Source 
this ensures heli gets basic testing
This commit is contained in:
Andrew Tridgell 2015-05-27 18:13:55 +10:00
parent 6701d53d49
commit 717c04d507
2 changed files with 21 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
Tools/autotest/arducopter.py
View File

@ -1260,20 +1260,20 @@ def fly_CopterAVC(viewerip=None, map=False):
util.build_SIL('ArduCopter', target=TARGET)
home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
sil = util.start_SIL('ArduCopter', wipe=True, model='+', home=home, speedup=speedup_default)
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
sil = util.start_SIL('ArduCopter', wipe=True, model='heli', home=home, speedup=speedup_default)
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550')
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
mavproxy.send("param load %s/copter_AVC2013_params.parm\n" % testdir)
mavproxy.send("param load %s/Helicopter.parm\n" % testdir)
mavproxy.expect('Loaded [0-9]+ parameters')
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
sil = util.start_SIL('ArduCopter', model='+', home=home, speedup=speedup_default)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
sil = util.start_SIL('ArduCopter', model='heli', home=home, speedup=speedup_default)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
if map:
@ -1323,8 +1323,11 @@ def fly_CopterAVC(viewerip=None, map=False):
setup_rc(mavproxy)
homeloc = mav.location()
# wait 10sec to allow EKF to settle
wait_seconds(mav, 10)
print("Lowering rotor speed")
mavproxy.send('rc 8 1000\n')
# wait 20sec to allow EKF to settle
wait_seconds(mav, 20)
# Arm
print("# Arm motors")
@ -1333,6 +1336,9 @@ def fly_CopterAVC(viewerip=None, map=False):
print(failed_test_msg)
failed = True
print("Raising rotor speed")
mavproxy.send('rc 8 2000\n')
print("# Fly AVC mission")
if not fly_avc_test(mavproxy, mav):
failed_test_msg = "fly_avc_test failed"
@ -1341,6 +1347,9 @@ def fly_CopterAVC(viewerip=None, map=False):
else:
print("Flew AVC mission OK")
print("Lowering rotor speed")
mavproxy.send('rc 8 1000\n')
#mission includes disarm at end so should be ok to download logs now
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/CopterAVC-log.bin")):
failed_test_msg = "log_download failed"

5
Tools/autotest/autotest.py
View File

@ -163,6 +163,8 @@ steps = [
'build.ArduCopter',
'defaults.ArduCopter',
'fly.ArduCopter',
'build.Helicopter',
'fly.CopterAVC',
'convertgpx',
@ -204,6 +206,9 @@ def run_step(step):
if step == 'build.ArduCopter':
return util.build_SIL('ArduCopter', j=opts.j)
if step == 'build.Helicopter':
return util.build_SIL('ArduCopter', target='sitl-heli', j=opts.j)
if step == 'defaults.ArduPlane':
return get_default_params('ArduPlane')