Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

autotest: remove unnecessary try/except from Sprayer test 

backport from https://github.com/ArduPilot/ardupilot/pull/23823
This commit is contained in:
Peter Barker 2023-05-19 10:04:11 +10:00 committed by Randy Mackay
parent d9cb0c35d3
commit 737748ee54
1 changed files with 80 additions and 84 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

164
Tools/autotest/arducopter.py
View File

@ -9467,111 +9467,107 @@ class AutoTestCopter(AutoTest):
def Sprayer(self):
"""Test sprayer functionality."""
self.context_push()
ex = None
try:
rc_ch = 9
pump_ch = 5
spinner_ch = 6
pump_ch_min = 1050
pump_ch_trim = 1520
pump_ch_max = 1950
spinner_ch_min = 975
spinner_ch_trim = 1510
spinner_ch_max = 1975
self.set_parameters({
"SPRAY_ENABLE": 1,
rc_ch = 9
pump_ch = 5
spinner_ch = 6
pump_ch_min = 1050
pump_ch_trim = 1520
pump_ch_max = 1950
spinner_ch_min = 975
spinner_ch_trim = 1510
spinner_ch_max = 1975
"SERVO%u_FUNCTION" % pump_ch: 22,
"SERVO%u_MIN" % pump_ch: pump_ch_min,
"SERVO%u_TRIM" % pump_ch: pump_ch_trim,
"SERVO%u_MAX" % pump_ch: pump_ch_max,
self.set_parameters({
"SPRAY_ENABLE": 1,
"SERVO%u_FUNCTION" % spinner_ch: 23,
"SERVO%u_MIN" % spinner_ch: spinner_ch_min,
"SERVO%u_TRIM" % spinner_ch: spinner_ch_trim,
"SERVO%u_MAX" % spinner_ch: spinner_ch_max,
"SERVO%u_FUNCTION" % pump_ch: 22,
"SERVO%u_MIN" % pump_ch: pump_ch_min,
"SERVO%u_TRIM" % pump_ch: pump_ch_trim,
"SERVO%u_MAX" % pump_ch: pump_ch_max,
"SIM_SPR_ENABLE": 1,
"SIM_SPR_PUMP": pump_ch,
"SIM_SPR_SPIN": spinner_ch,
"SERVO%u_FUNCTION" % spinner_ch: 23,
"SERVO%u_MIN" % spinner_ch: spinner_ch_min,
"SERVO%u_TRIM" % spinner_ch: spinner_ch_trim,
"SERVO%u_MAX" % spinner_ch: spinner_ch_max,
"RC%u_OPTION" % rc_ch: 15,
"LOG_DISARMED": 1,
})
"SIM_SPR_ENABLE": 1,
"SIM_SPR_PUMP": pump_ch,
"SIM_SPR_SPIN": spinner_ch,
self.reboot_sitl()
"RC%u_OPTION" % rc_ch: 15,
"LOG_DISARMED": 1,
})
self.wait_ready_to_arm()
self.arm_vehicle()
self.reboot_sitl()
self.progress("test bootup state - it's zero-output!")
self.wait_servo_channel_value(spinner_ch, 0)
self.wait_servo_channel_value(pump_ch, 0)
self.wait_ready_to_arm()
self.arm_vehicle()
self.progress("Enable sprayer")
self.set_rc(rc_ch, 2000)
self.progress("test bootup state - it's zero-output!")
self.wait_servo_channel_value(spinner_ch, 0)
self.wait_servo_channel_value(pump_ch, 0)
self.progress("Testing zero-speed state")
self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
self.wait_servo_channel_value(pump_ch, pump_ch_min)
self.progress("Enable sprayer")
self.set_rc(rc_ch, 2000)
self.progress("Testing turning it off")
self.set_rc(rc_ch, 1000)
self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
self.wait_servo_channel_value(pump_ch, pump_ch_min)
self.progress("Testing zero-speed state")
self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
self.wait_servo_channel_value(pump_ch, pump_ch_min)
self.progress("Testing turning it back on")
self.set_rc(rc_ch, 2000)
self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
self.wait_servo_channel_value(pump_ch, pump_ch_min)
self.progress("Testing turning it off")
self.set_rc(rc_ch, 1000)
self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
self.wait_servo_channel_value(pump_ch, pump_ch_min)
self.takeoff(30, mode='LOITER')
self.progress("Testing turning it back on")
self.set_rc(rc_ch, 2000)
self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
self.wait_servo_channel_value(pump_ch, pump_ch_min)
self.progress("Testing speed-ramping")
self.set_rc(1, 1700) # start driving forward
self.takeoff(30, mode='LOITER')
# this is somewhat empirical...
self.wait_servo_channel_value(pump_ch, 1458, timeout=60)
self.progress("Testing speed-ramping")
self.set_rc(1, 1700) # start driving forward
self.progress("Turning it off again")
self.set_rc(rc_ch, 1000)
self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
self.wait_servo_channel_value(pump_ch, pump_ch_min)
# this is somewhat empirical...
self.wait_servo_channel_value(pump_ch, 1458, timeout=60)
self.start_subtest("Checking mavlink commands")
self.progress("Starting Sprayer")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SPRAYER,
1, # p1
0, # p2
0, # p3
0, # p4
0, # p5
0, # p6
0) # p7
self.progress("Turning it off again")
self.set_rc(rc_ch, 1000)
self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
self.wait_servo_channel_value(pump_ch, pump_ch_min)
self.progress("Testing speed-ramping")
self.wait_servo_channel_value(pump_ch, 1458, timeout=60, comparator=operator.gt)
self.start_subtest("Stopping Sprayer")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SPRAYER,
0, # p1
0, # p2
0, # p3
0, # p4
0, # p5
0, # p6
0) # p7
self.wait_servo_channel_value(pump_ch, pump_ch_min)
self.start_subtest("Checking mavlink commands")
self.progress("Starting Sprayer")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SPRAYER,
1, # p1
0, # p2
0, # p3
0, # p4
0, # p5
0, # p6
0) # p7
self.progress("Testing speed-ramping")
self.wait_servo_channel_value(pump_ch, 1458, timeout=60, comparator=operator.gt)
self.start_subtest("Stopping Sprayer")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SPRAYER,
0, # p1
0, # p2
0, # p3
0, # p4
0, # p5
0, # p6
0) # p7
self.wait_servo_channel_value(pump_ch, pump_ch_min)
self.progress("Sprayer OK")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex:
raise ex
self.progress("Sprayer OK")
def tests1a(self):
'''return list of all tests'''
@ -9749,7 +9745,7 @@ class AutoTestCopter(AutoTest):
self.reboot_sitl()
self.wait_ready_to_arm()
self.takeoff(alt_min=20, mode='LOITER')
self.land_and_disarm()
self.do_RTL()
self.context_pop()
self.reboot_sitl()