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Tools: add ability to simulate more than 2 GPSs

This commit is contained in:
Peter Barker 2024-11-12 08:49:13 +11:00 committed by Peter Barker
parent fab1ef7a87
commit 7b64263562
11 changed files with 98 additions and 104 deletions
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100
Tools/autotest/arducopter.py
View File

@ -552,13 +552,13 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.start_subtest("Radio failsafe RTL fails into land mode due to bad position.")
self.set_parameter('FS_THR_ENABLE', 1)
self.takeoffAndMoveAway()
self.set_parameter('SIM_GPS_DISABLE', 1)
self.set_parameter('SIM_GPS1_ENABLE', 0)
self.delay_sim_time(5)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.wait_landed_and_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.set_parameter('SIM_GPS_DISABLE', 0)
self.set_parameter('SIM_GPS1_ENABLE', 1)
self.wait_ekf_happy()
self.end_subtest("Completed Radio failsafe RTL fails into land mode due to bad position.")
@ -567,13 +567,13 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.start_subtest("Radio failsafe SmartRTL->RTL fails into land mode due to bad position.")
self.set_parameter('FS_THR_ENABLE', 4)
self.takeoffAndMoveAway()
self.set_parameter('SIM_GPS_DISABLE', 1)
self.set_parameter('SIM_GPS1_ENABLE', 0)
self.delay_sim_time(5)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.wait_landed_and_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.set_parameter('SIM_GPS_DISABLE', 0)
self.set_parameter('SIM_GPS1_ENABLE', 1)
self.wait_ekf_happy()
self.end_subtest("Completed Radio failsafe SmartRTL->RTL fails into land mode due to bad position.")
@ -582,13 +582,13 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.start_subtest("Radio failsafe SmartRTL->LAND fails into land mode due to bad position.")
self.set_parameter('FS_THR_ENABLE', 5)
self.takeoffAndMoveAway()
self.set_parameter('SIM_GPS_DISABLE', 1)
self.set_parameter('SIM_GPS1_ENABLE', 0)
self.delay_sim_time(5)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.wait_landed_and_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.set_parameter('SIM_GPS_DISABLE', 0)
self.set_parameter('SIM_GPS1_ENABLE', 1)
self.wait_ekf_happy()
self.end_subtest("Completed Radio failsafe SmartRTL->LAND fails into land mode due to bad position.")
@ -597,9 +597,9 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.start_subtest("Radio failsafe SmartRTL->RTL fails into RTL mode due to no path.")
self.set_parameter('FS_THR_ENABLE', 4)
self.takeoffAndMoveAway()
self.set_parameter('SIM_GPS_DISABLE', 1)
self.set_parameter('SIM_GPS1_ENABLE', 0)
self.wait_statustext("SmartRTL deactivated: bad position", timeout=60)
self.set_parameter('SIM_GPS_DISABLE', 0)
self.set_parameter('SIM_GPS1_ENABLE', 1)
self.wait_ekf_happy()
self.delay_sim_time(5)
self.set_parameter("SIM_RC_FAIL", 1)
@ -613,9 +613,9 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.start_subtest("Radio failsafe SmartRTL->LAND fails into land mode due to no path.")
self.set_parameter('FS_THR_ENABLE', 5)
self.takeoffAndMoveAway()
self.set_parameter('SIM_GPS_DISABLE', 1)
self.set_parameter('SIM_GPS1_ENABLE', 0)
self.wait_statustext("SmartRTL deactivated: bad position", timeout=60)
self.set_parameter('SIM_GPS_DISABLE', 0)
self.set_parameter('SIM_GPS1_ENABLE', 1)
self.wait_ekf_happy()
self.delay_sim_time(5)
self.set_parameter("SIM_RC_FAIL", 1)
@ -1958,8 +1958,8 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
glitch_current = 0
self.progress("Apply first glitch")
self.set_parameters({
"SIM_GPS_GLITCH_X": glitch_lat[glitch_current],
"SIM_GPS_GLITCH_Y": glitch_lon[glitch_current],
"SIM_GPS1_GLTCH_X": glitch_lat[glitch_current],
"SIM_GPS1_GLTCH_Y": glitch_lon[glitch_current],
})
# record position for 30 seconds
@ -1973,15 +1973,15 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
glitch_current = -1
self.progress("Completed Glitches")
self.set_parameters({
"SIM_GPS_GLITCH_X": 0,
"SIM_GPS_GLITCH_Y": 0,
"SIM_GPS1_GLTCH_X": 0,
"SIM_GPS1_GLTCH_Y": 0,
})
else:
self.progress("Applying glitch %u" % glitch_current)
# move onto the next glitch
self.set_parameters({
"SIM_GPS_GLITCH_X": glitch_lat[glitch_current],
"SIM_GPS_GLITCH_Y": glitch_lon[glitch_current],
"SIM_GPS1_GLTCH_X": glitch_lat[glitch_current],
"SIM_GPS1_GLTCH_Y": glitch_lon[glitch_current],
})
# start displaying distance moved after all glitches applied
@ -2002,8 +2002,8 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
# disable gps glitch
if glitch_current != -1:
self.set_parameters({
"SIM_GPS_GLITCH_X": 0,
"SIM_GPS_GLITCH_Y": 0,
"SIM_GPS1_GLTCH_X": 0,
"SIM_GPS1_GLTCH_Y": 0,
})
if self.use_map:
self.show_gps_and_sim_positions(False)
@ -2024,7 +2024,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.wait_attitude(desroll=0, despitch=0, timeout=10, tolerance=1)
# apply glitch
self.set_parameter("SIM_GPS_GLITCH_X", 0.001)
self.set_parameter("SIM_GPS1_GLTCH_X", 0.001)
# check lean angles remain stable for 20 seconds
tstart = self.get_sim_time()
@ -2098,11 +2098,11 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
# stop and test loss of GPS for a short time - it should resume GPS use without falling back into a non aiding mode
self.change_mode("LOITER")
self.set_parameters({
"SIM_GPS_DISABLE": 1,
"SIM_GPS1_ENABLE": 0,
})
self.delay_sim_time(2)
self.set_parameters({
"SIM_GPS_DISABLE": 0,
"SIM_GPS1_ENABLE": 1,
})
# regaining GPS should not result in it falling back to a non-navigation mode
self.wait_ekf_flags(mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS, 0, timeout=1)
@ -2118,8 +2118,8 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
glitch_current = 0
self.progress("Apply first glitch")
self.set_parameters({
"SIM_GPS_GLITCH_X": glitch_lat[glitch_current],
"SIM_GPS_GLITCH_Y": glitch_lon[glitch_current],
"SIM_GPS1_GLTCH_X": glitch_lat[glitch_current],
"SIM_GPS1_GLTCH_Y": glitch_lon[glitch_current],
})
# record position for 30 seconds
@ -2132,15 +2132,15 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
if glitch_current < glitch_num:
self.progress("Applying glitch %u" % glitch_current)
self.set_parameters({
"SIM_GPS_GLITCH_X": glitch_lat[glitch_current],
"SIM_GPS_GLITCH_Y": glitch_lon[glitch_current],
"SIM_GPS1_GLTCH_X": glitch_lat[glitch_current],
"SIM_GPS1_GLTCH_Y": glitch_lon[glitch_current],
})
# turn off glitching
self.progress("Completed Glitches")
self.set_parameters({
"SIM_GPS_GLITCH_X": 0,
"SIM_GPS_GLITCH_Y": 0,
"SIM_GPS1_GLTCH_X": 0,
"SIM_GPS1_GLTCH_Y": 0,
})
# continue with the mission
@ -2526,7 +2526,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.set_parameters({
"SIM_FLOW_ENABLE": 1,
"FLOW_TYPE": 10,
"SIM_GPS_DISABLE": 1,
"SIM_GPS1_ENABLE": 0,
"SIM_TERRAIN": 0,
})
@ -2980,13 +2980,13 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
'''fly a mission far from the vehicle origin'''
# Fly mission #1
self.set_parameters({
"SIM_GPS_DISABLE": 1,
"SIM_GPS1_ENABLE": 0,
})
self.reboot_sitl()
nz = mavutil.location(-43.730171, 169.983118, 1466.3, 270)
self.set_origin(nz)
self.set_parameters({
"SIM_GPS_DISABLE": 0,
"SIM_GPS1_ENABLE": 1,
})
self.progress("# Load copter_mission")
# load the waypoint count
@ -3028,8 +3028,8 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
"GPS1_TYPE": 9,
"GPS2_TYPE": 9,
# disable simulated GPS, so only via DroneCAN
"SIM_GPS_DISABLE": 1,
"SIM_GPS2_DISABLE": 1,
"SIM_GPS1_ENABLE": 0,
"SIM_GPS2_ENABLE": 0,
# this ensures we use DroneCAN baro and compass
"SIM_BARO_COUNT" : 0,
"SIM_MAG1_DEVID" : 0,
@ -3206,7 +3206,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
"EK3_SRC1_POSZ": 3,
"EK3_AFFINITY" : 1,
"GPS2_TYPE" : 1,
"SIM_GPS2_DISABLE" : 0,
"SIM_GPS2_ENABLE" : 1,
"SIM_GPS2_GLTCH_Z" : -30
})
self.reboot_sitl()
@ -7245,7 +7245,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.context_push()
self.set_parameters({
"GPS1_TYPE": 2,
"SIM_GPS_DISABLE": 1,
"SIM_GPS1_ENABLE": 0,
})
# if there is no GPS at all then we must direct EK3 to not use
# it at all. Otherwise it will never initialise, as it wants
@ -8986,7 +8986,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
"RNGFND1_POS_Y": -0.07,
"RNGFND1_POS_Z": -0.005,
"SIM_SONAR_SCALE": 30,
"SIM_GPS2_DISABLE": 0,
"SIM_GPS2_ENABLE": 1,
})
self.reboot_sitl()
@ -9045,7 +9045,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.set_parameters({
"GPS2_TYPE": 1,
"SIM_GPS2_TYPE": 1,
"SIM_GPS2_DISABLE": 0,
"SIM_GPS2_ENABLE": 1,
"GPS_AUTO_SWITCH": 2,
})
self.reboot_sitl()
@ -9116,9 +9116,9 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
"WP_YAW_BEHAVIOR": 0, # do not yaw
"GPS2_TYPE": 1,
"SIM_GPS2_TYPE": 1,
"SIM_GPS2_DISABLE": 0,
"SIM_GPS_POS_X": 1.0,
"SIM_GPS_POS_Y": -1.0,
"SIM_GPS2_ENABLE": 1,
"SIM_GPS1_POS_X": 1.0,
"SIM_GPS1_POS_Y": -1.0,
"SIM_GPS2_POS_X": -1.0,
"SIM_GPS2_POS_Y": 1.0,
"GPS_AUTO_SWITCH": 2,
@ -9176,9 +9176,9 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
"WP_YAW_BEHAVIOR": 0, # do not yaw
"GPS2_TYPE": 1,
"SIM_GPS2_TYPE": 1,
"SIM_GPS2_DISABLE": 0,
"SIM_GPS_POS_X": 1.0,
"SIM_GPS_POS_Y": -1.0,
"SIM_GPS2_ENABLE": 1,
"SIM_GPS1_POS_X": 1.0,
"SIM_GPS1_POS_Y": -1.0,
"SIM_GPS2_POS_X": -1.0,
"SIM_GPS2_POS_Y": 1.0,
"GPS_AUTO_SWITCH": 2,
@ -9186,8 +9186,8 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
# configure velocity errors such that the 1st GPS should be
# 4/5, second GPS 1/5 of result (0.5**2)/((0.5**2)+(1.0**2))
self.set_parameters({
"SIM_GPS_VERR_X": 0.3, # m/s
"SIM_GPS_VERR_Y": 0.4,
"SIM_GPS1_VERR_X": 0.3, # m/s
"SIM_GPS1_VERR_Y": 0.4,
"SIM_GPS2_VERR_X": 0.6, # m/s
"SIM_GPS2_VERR_Y": 0.8,
"GPS_BLEND_MASK": 4, # use only speed for blend calculations
@ -9243,9 +9243,9 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
"WP_YAW_BEHAVIOR": 0, # do not yaw
"GPS2_TYPE": 1,
"SIM_GPS2_TYPE": 1,
"SIM_GPS2_DISABLE": 0,
"SIM_GPS_POS_X": 1.0,
"SIM_GPS_POS_Y": -1.0,
"SIM_GPS2_ENABLE": 1,
"SIM_GPS1_POS_X": 1.0,
"SIM_GPS1_POS_Y": -1.0,
"SIM_GPS2_POS_X": -1.0,
"SIM_GPS2_POS_Y": 1.0,
"GPS_AUTO_SWITCH": 2,
@ -11739,7 +11739,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
'''ensure Guided acts appropriately when force-armed'''
self.set_parameters({
"EK3_SRC2_VELXY": 5,
"SIM_GPS_DISABLE": 1,
"SIM_GPS1_ENABLE": 0,
})
self.load_default_params_file("copter-optflow.parm")
self.reboot_sitl()
@ -11926,7 +11926,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
'''check FlightOption::REQUIRE_POSITION_FOR_ARMING works'''
self.context_push()
self.set_parameters({
"SIM_GPS_NUMSATS": 3, # EKF does not like < 6
"SIM_GPS1_NUMSATS": 3, # EKF does not like < 6
})
self.reboot_sitl()
self.change_mode('STABILIZE')
@ -12127,7 +12127,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
# switch to EKF3
self.set_parameters({
'SIM_GPS_GLITCH_X' : 0.001, # about 100m
'SIM_GPS1_GLTCH_X' : 0.001, # about 100m
'EK3_CHECK_SCALE' : 100,
'AHRS_EKF_TYPE' : 3})

36
Tools/autotest/arduplane.py
View File

@ -185,7 +185,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
def NeedEKFToArm(self):
"""Ensure the EKF must be healthy for the vehicle to arm."""
self.progress("Ensuring we need EKF to be healthy to arm")
self.set_parameter("SIM_GPS_DISABLE", 1)
self.set_parameter("SIM_GPS1_ENABLE", 0)
self.context_collect("STATUSTEXT")
tstart = self.get_sim_time()
success = False
@ -201,7 +201,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
except AutoTestTimeoutException:
pass
self.set_parameter("SIM_GPS_DISABLE", 0)
self.set_parameter("SIM_GPS1_ENABLE", 1)
self.wait_ready_to_arm()
def fly_LOITER(self, num_circles=4):
@ -2046,14 +2046,14 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.delay_sim_time(60)
else:
self.delay_sim_time(20)
self.set_parameter("SIM_GPS_DISABLE", 1)
self.set_parameter("SIM_GPS1_ENABLE", 0)
self.progress("Continue orbit without GPS")
self.delay_sim_time(20)
self.change_mode("RTL")
self.wait_distance_to_home(100, 200, timeout=200)
# go into LOITER to create additonal time for a GPS re-enable test
self.change_mode("LOITER")
self.set_parameter("SIM_GPS_DISABLE", 0)
self.set_parameter("SIM_GPS1_ENABLE", 1)
t_enabled = self.get_sim_time()
# The EKF should wait for GPS checks to pass when we are still able to navigate using dead reckoning
# to prevent bad GPS being used when coming back after loss of lock due to interence.
@ -2064,9 +2064,9 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.delay_sim_time(20)
self.set_parameter("AHRS_OPTIONS", 1)
self.set_parameter("SIM_GPS_JAM", 1)
self.set_parameter("SIM_GPS1_JAM", 1)
self.delay_sim_time(10)
self.set_parameter("SIM_GPS_JAM", 0)
self.set_parameter("SIM_GPS1_JAM", 0)
t_enabled = self.get_sim_time()
# The EKF should wait for GPS checks to pass when we are still able to navigate using dead reckoning
# to prevent bad GPS being used when coming back after loss of lock due to interence.
@ -3325,7 +3325,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
"EK3_AFFINITY": 15, # enable affinity for all sensors
"EK3_IMU_MASK": 3, # use only 2 IMUs
"GPS2_TYPE": 1,
"SIM_GPS2_DISABLE": 0,
"SIM_GPS2_ENABLE": 1,
"SIM_BARO_COUNT": 2,
"SIM_BAR2_DISABLE": 0,
"ARSPD2_TYPE": 2,
@ -3400,9 +3400,9 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
# noise on each axis
def sim_gps_verr():
self.set_parameters({
"SIM_GPS_VERR_X": self.get_parameter("SIM_GPS_VERR_X") + 2,
"SIM_GPS_VERR_Y": self.get_parameter("SIM_GPS_VERR_Y") + 2,
"SIM_GPS_VERR_Z": self.get_parameter("SIM_GPS_VERR_Z") + 2,
"SIM_GPS1_VERR_X": self.get_parameter("SIM_GPS1_VERR_X") + 2,
"SIM_GPS1_VERR_Y": self.get_parameter("SIM_GPS1_VERR_Y") + 2,
"SIM_GPS1_VERR_Z": self.get_parameter("SIM_GPS1_VERR_Z") + 2,
})
self.wait_statustext(text="EKF3 lane switch", timeout=30, the_function=sim_gps_verr, check_context=True)
if self.lane_switches != [1, 0, 1]:
@ -4870,8 +4870,8 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.context_collect('STATUSTEXT')
self.set_parameters({
"EK3_POS_I_GATE": 0,
"SIM_GPS_HZ": 1,
"SIM_GPS_LAG_MS": 1000,
"SIM_GPS1_HZ": 1,
"SIM_GPS1_LAG_MS": 1000,
})
self.wait_statustext("DCM Active", check_context=True, timeout=60)
self.wait_statustext("EKF3 Active", check_context=True)
@ -5530,8 +5530,8 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
def AltResetBadGPS(self):
'''Tests the handling of poor GPS lock pre-arm alt resets'''
self.set_parameters({
"SIM_GPS_GLITCH_Z": 0,
"SIM_GPS_ACC": 0.3,
"SIM_GPS1_GLTCH_Z": 0,
"SIM_GPS1_ACC": 0.3,
})
self.wait_ready_to_arm()
@ -5541,8 +5541,8 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
raise NotAchievedException("Bad relative alt %.1f" % relalt)
self.progress("Setting low accuracy, glitching GPS")
self.set_parameter("SIM_GPS_ACC", 40)
self.set_parameter("SIM_GPS_GLITCH_Z", -47)
self.set_parameter("SIM_GPS1_ACC", 40)
self.set_parameter("SIM_GPS1_GLTCH_Z", -47)
self.progress("Waiting 10s for height update")
self.delay_sim_time(10)
@ -6119,7 +6119,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.takeoff(50)
self.change_mode('GUIDED')
self.context_push()
self.set_parameter('SIM_GPS_DISABLE', 1)
self.set_parameter('SIM_GPS1_ENABLE', 0)
self.delay_sim_time(30)
self.set_attitude_target()
self.context_pop()
@ -6196,7 +6196,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
def ForceArm(self):
'''check force-arming functionality'''
self.set_parameter("SIM_GPS_DISABLE", 1)
self.set_parameter("SIM_GPS1_ENABLE", 0)
# 21196 is the mavlink standard, 2989 is legacy
for magic_value in 21196, 2989:
self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_PREARM_CHECK,

2
Tools/autotest/default_params/airsim-quadX.parm
View File

@ -18,7 +18,7 @@ WPNAV_SPEED_DN 300
WPNAV_SPEED 2000
RTL_ALT 2500
ANGLE_MAX 3000
SIM_GPS_LAG_MS 0
SIM_GPS1_LAG_MS 0
GPS_DELAY_MS 20
INS_GYRO_FILTER 50
INS_ACCEL_FILTER 50

4
Tools/autotest/default_params/copter-gps-for-yaw-nmea.parm
View File

@ -1,5 +1,5 @@
# SITL GPS-for-yaw using a single simulated NMEA GPS
EK3_SRC1_YAW 2
GPS1_TYPE 5
SIM_GPS_TYPE 5
SIM_GPS_HDG 1
SIM_GPS1_TYPE 5
SIM_GPS1_HDG 1

5
Tools/autotest/default_params/copter-gps-for-yaw.parm
View File

@ -5,7 +5,8 @@ GPS1_TYPE 17
GPS2_TYPE 18
GPS1_POS_Y -0.2
GPS2_POS_Y 0.2
SIM_GPS_POS_Y -0.2
SIM_GPS1_POS_Y -0.2
SIM_GPS2_POS_Y 0.2
SIM_GPS2_DISABLE 0
SIM_GPS2_ENABLE 1
SIM_GPS2_HDG 1
SIM_GPS1_HDG 4

5
Tools/autotest/default_params/tracker-gps-for-yaw.parm
View File

@ -5,7 +5,8 @@ GPS1_TYPE 17
GPS2_TYPE 18
GPS1_POS_Y -0.2
GPS2_POS_Y 0.2
SIM_GPS_POS_Y -0.2
SIM_GPS1_POS_Y -0.2
SIM_GPS2_POS_Y 0.2
SIM_GPS2_DISABLE 0
SIM_GPS2_ENABLE 1
SIM_GPS2_HDG 1
SIM_GPS1_HDG 4

19
Tools/autotest/default_params/vee-gull_005.param
View File

@ -628,19 +628,12 @@ SIM_FLOW_POS_X,0
SIM_FLOW_POS_Y,0
SIM_FLOW_POS_Z,0
SIM_FLOW_RATE,10
SIM_GP2_GLITCH_X,0
SIM_GP2_GLITCH_Y,0
SIM_GP2_GLITCH_Z,0
SIM_GPS_BYTELOSS,0
SIM_GPS_DISABLE,0
SIM_GPS_DRIFTALT,0
SIM_GPS_GLITCH_X,0
SIM_GPS_GLITCH_Y,0
SIM_GPS_GLITCH_Z,0
SIM_GPS_HZ,5
SIM_GPS_NOISE,0
SIM_GPS_NUMSATS,10
SIM_GPS_TYPE,1
SIM_GPS1_BYTELOSS,0
SIM_GPS1_DRIFTALT,0
SIM_GPS1_HZ,5
SIM_GPS1_NOISE,0
SIM_GPS1_NUMSATS,10
SIM_GPS1_TYPE,1
SIM_GPS2_ENABLE,0
SIM_IMU_POS_X,0
SIM_IMU_POS_Y,0

4
Tools/autotest/quadplane.py
View File

@ -1764,8 +1764,8 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
# Kill any GPSs
self.set_parameters({
'SIM_GPS_DISABLE': 1,
'SIM_GPS2_DISABLE': 1,
'SIM_GPS1_ENABLE': 0,
'SIM_GPS2_ENABLE': 0,
})
self.delay_sim_time(5)

2
Tools/autotest/rover.py
View File

@ -6807,7 +6807,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
'''Test jamming simulation works'''
self.wait_ready_to_arm()
start_loc = self.assert_receive_message('GPS_RAW_INT')
self.set_parameter("SIM_GPS_JAM", 1)
self.set_parameter("SIM_GPS1_JAM", 1)
class Requirement():
def __init__(self, field, min_value):

24
Tools/autotest/vehicle_test_suite.py
View File

@ -3665,7 +3665,7 @@ class TestSuite(ABC):
if (m.failure_flags & mavutil.mavlink.HL_FAILURE_FLAG_GPS) != 0:
raise NotAchievedException("Expected GPS to be OK")
self.assert_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS, True, True, True)
self.set_parameter("SIM_GPS_TYPE", 0)
self.set_parameter("SIM_GPS1_TYPE", 0)
self.delay_sim_time(10)
self.assert_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS, False, False, False)
m = self.poll_message("HIGH_LATENCY2")
@ -3674,7 +3674,7 @@ class TestSuite(ABC):
raise NotAchievedException("Expected GPS to be failed")
self.start_subtest("HIGH_LATENCY2 location")
self.set_parameter("SIM_GPS_TYPE", 1)
self.set_parameter("SIM_GPS1_TYPE", 1)
self.delay_sim_time(10)
m = self.poll_message("HIGH_LATENCY2")
self.progress(self.dump_message_verbose(m))
@ -8471,7 +8471,7 @@ Also, ignores heartbeats not from our target system'''
def wait_gps_disable(self, position_horizontal=True, position_vertical=False, timeout=30):
"""Disable GPS and wait for EKF to report the end of assistance from GPS."""
self.set_parameter("SIM_GPS_DISABLE", 1)
self.set_parameter("SIM_GPS1_ENABLE", 0)
tstart = self.get_sim_time()
""" if using SITL estimates directly """
@ -10683,7 +10683,7 @@ Also, ignores heartbeats not from our target system'''
p1=1, # ARM
want_result=mavutil.mavlink.MAV_RESULT_FAILED,
)
self.set_parameter("SIM_GPS_DISABLE", 0)
self.set_parameter("SIM_GPS1_ENABLE", 1)
self.wait_ekf_happy() # EKF may stay unhappy for a while
self.progress("PASS not able to arm without Position in mode : %s" % mode)
if mode in self.get_no_position_not_settable_modes_list():
@ -10693,10 +10693,10 @@ Also, ignores heartbeats not from our target system'''
try:
self.change_mode(mode, timeout=15)
except AutoTestTimeoutException:
self.set_parameter("SIM_GPS_DISABLE", 0)
self.set_parameter("SIM_GPS1_ENABLE", 1)
self.progress("PASS not able to set mode without Position : %s" % mode)
except ValueError:
self.set_parameter("SIM_GPS_DISABLE", 0)
self.set_parameter("SIM_GPS1_ENABLE", 1)
self.progress("PASS not able to set mode without Position : %s" % mode)
if mode == "FOLLOW":
self.set_parameter("FOLL_ENABLE", 0)
@ -12531,7 +12531,7 @@ switch value'''
self.context_collect("STATUSTEXT")
self.set_parameters({
"AFS_MAX_GPS_LOSS": 1,
"SIM_GPS_DISABLE": 1,
"SIM_GPS1_ENABLE": 0,
})
self.wait_statustext("AFS State: GPS_LOSS", check_context=True)
self.context_pop()
@ -14160,7 +14160,7 @@ switch value'''
self.context_collect("STATUSTEXT")
for (sim_gps_type, name, gps_type, detect_name, serial_protocol, detect_prefix) in sim_gps:
self.start_subtest("Checking GPS type %s" % name)
self.set_parameter("SIM_GPS_TYPE", sim_gps_type)
self.set_parameter("SIM_GPS1_TYPE", sim_gps_type)
self.set_parameter("SERIAL3_PROTOCOL", serial_protocol)
if gps_type is None:
gps_type = 1 # auto-detect
@ -14265,7 +14265,7 @@ switch value'''
self.start_subtest("Ensure detection when sim gps connected")
self.set_parameter("SIM_GPS2_TYPE", 1)
self.set_parameter("SIM_GPS2_DISABLE", 0)
self.set_parameter("SIM_GPS2_ENABLE", 1)
# a reboot is required after setting GPS2_TYPE. We start
# sending GPS2_RAW out, once the parameter is set, but a
# reboot is required because _port[1] is only set in
@ -14281,9 +14281,9 @@ switch value'''
raise NotAchievedException("Incorrect fix type")
self.start_subtest("Check parameters are per-GPS")
self.assert_parameter_value("SIM_GPS_NUMSATS", 10)
self.assert_parameter_value("SIM_GPS1_NUMSATS", 10)
self.assert_gps_satellite_count("GPS_RAW_INT", 10)
self.set_parameter("SIM_GPS_NUMSATS", 13)
self.set_parameter("SIM_GPS1_NUMSATS", 13)
self.assert_gps_satellite_count("GPS_RAW_INT", 13)
self.assert_parameter_value("SIM_GPS2_NUMSATS", 10)
@ -14311,7 +14311,7 @@ switch value'''
if abs(gpi_alt - new_gpi_alt) > 100:
raise NotAchievedException("alt moved unexpectedly")
self.progress("Killing first GPS")
self.set_parameter("SIM_GPS_DISABLE", 1)
self.set_parameter("SIM_GPS1_ENABLE", 0)
self.delay_sim_time(1)
self.progress("Checking altitude now matches second GPS")
m = self.assert_receive_message("GLOBAL_POSITION_INT")

1
Tools/vagrant/mavinit.scr
View File

@ -17,7 +17,6 @@ module load graph
@alias add odroidpower relay set 0
@alias add neutral2 servo set 12 1500
@alias add ekf param set AHRS_EKF_USE
@alias add gpsdisable param set SIM_GPS_DISABLE
@alias add bb status gps* scaled* raw*
@alias add g graph
@alias add grc3 g RC_CHANNELS.chan3_raw SERVO_OUTPUT_RAW.servo3_raw