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Tools: allow heli autotest to use different frame

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Peter Barker 2017-05-27 11:45:13 +10:00 committed by Francisco Ferreira
parent 9948bed2a2
commit 791b1f43e9
2 changed files with 13 additions and 5 deletions
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14
Tools/autotest/arducopter.py
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@ -1317,17 +1317,25 @@ def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fal
return True return True
def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=False): def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None):
"""Fly ArduCopter in SITL for AVC2013 mission.""" """Fly ArduCopter in SITL for AVC2013 mission."""
global homeloc global homeloc
if frame is None:
frame = 'heli'
home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading) home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
sitl = util.start_SITL(binary, wipe=True, model='heli', home=home, speedup=speedup_default) sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup_default)
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550') mavproxy = util.start_MAVProxy_SITL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550')
mavproxy.expect('Received [0-9]+ parameters') mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters # setup test parameters
mavproxy.send("param load %s/default_params/copter-heli.parm\n" % testdir) if params is None:
params = vinfo.options["ArduCopter"]["frames"][frame]["default_params_filename"]
if not isinstance(params, list):
params = [params]
for x in params:
mavproxy.send("param load %s\n" % os.path.join(testdir, x))
mavproxy.expect('Loaded [0-9]+ parameters') mavproxy.expect('Loaded [0-9]+ parameters')
mavproxy.send("param set LOG_REPLAY 1\n") mavproxy.send("param set LOG_REPLAY 1\n")
mavproxy.send("param set LOG_DISARMED 1\n") mavproxy.send("param set LOG_DISARMED 1\n")

2
Tools/autotest/autotest.py
View File

@ -305,7 +305,7 @@ def run_step(step):
return arducopter.fly_ArduCopter(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame) return arducopter.fly_ArduCopter(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame)
if step == 'fly.CopterAVC': if step == 'fly.CopterAVC':
return arducopter.fly_CopterAVC(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb) return arducopter.fly_CopterAVC(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame)
if step == 'fly.ArduPlane': if step == 'fly.ArduPlane':
return arduplane.fly_ArduPlane(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb) return arduplane.fly_ArduPlane(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)