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https://github.com/ArduPilot/ardupilot
synced 2025-01-10 09:58:28 -04:00
SITL: copter autotest uses sim time
This commit is contained in:
Randy Mackay
parent
9e1502e54a
commit
7eb710ed3a
@ -92,19 +92,19 @@ def loiter(mavproxy, mav, holdtime=10, maxaltchange=5, maxdistchange=5):
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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start_altitude = m.alt
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start = mav.location()
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tstart = time.time()
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tholdstart = time.time()
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tstart = get_sim_time(mav)
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tholdstart = get_sim_time(mav)
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print("Holding loiter at %u meters for %u seconds" % (start_altitude, holdtime))
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while time.time() < tstart + holdtime:
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while get_sim_time(mav) < tstart + holdtime:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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pos = mav.location()
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delta = get_distance(start, pos)
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print("Loiter Dist: %.2fm, alt:%u" % (delta, m.alt))
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if math.fabs(m.alt - start_altitude) > maxaltchange:
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tholdstart = time.time() # this will cause this test to timeout and fails
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tholdstart = get_sim_time(mav) # this will cause this test to timeout and fails
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if delta > maxdistchange:
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tholdstart = time.time() # this will cause this test to timeout and fails
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if time.time() - tholdstart > holdtime:
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tholdstart = get_sim_time(mav) # this will cause this test to timeout and fails
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if get_sim_time(mav) - tholdstart > holdtime:
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print("Loiter OK for %u seconds" % holdtime)
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return True
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print("Loiter FAILED")
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@ -127,7 +127,7 @@ def change_alt(mavproxy, mav, alt_min, climb_throttle=1920, descend_throttle=108
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# fly a square in stabilize mode
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def fly_square(mavproxy, mav, side=50, timeout=120):
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'''fly a square, flying N then E'''
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tstart = time.time()
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tstart = get_sim_time(mav)
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failed = False
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# ensure all sticks in the middle
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@ -207,8 +207,8 @@ def fly_RTL(mavproxy, mav, side=60, timeout=250):
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'''Return, land'''
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print("# Enter RTL")
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mavproxy.send('switch 3\n')
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tstart = time.time()
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while time.time() < tstart + timeout:
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tstart = get_sim_time(mav)
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while get_sim_time(mav) < tstart + timeout:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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pos = mav.location()
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home_distance = get_distance(HOME, pos)
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@ -248,8 +248,8 @@ def fly_throttle_failsafe(mavproxy, mav, side=60, timeout=180):
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print("# Enter Failsafe")
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mavproxy.send('rc 3 900\n')
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tstart = time.time()
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while time.time() < tstart + timeout:
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tstart = get_sim_time(mav)
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while get_sim_time(mav) < tstart + timeout:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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pos = mav.location()
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home_distance = get_distance(HOME, pos)
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@ -332,24 +332,24 @@ def fly_stability_patch(mavproxy, mav, holdtime=30, maxaltchange=5, maxdistchang
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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start_altitude = m.alt
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start = mav.location()
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tstart = time.time()
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tholdstart = time.time()
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tstart = get_sim_time(mav)
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tholdstart = get_sim_time(mav)
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print("Holding loiter at %u meters for %u seconds" % (start_altitude, holdtime))
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# cut motor 1 to 55% efficiency
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print("Cutting motor 1 to 55% efficiency")
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mavproxy.send('param set SIM_ENGINE_MUL 0.55\n')
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while time.time() < tstart + holdtime:
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while get_sim_time(mav) < tstart + holdtime:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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pos = mav.location()
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delta = get_distance(start, pos)
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print("Loiter Dist: %.2fm, alt:%u" % (delta, m.alt))
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if math.fabs(m.alt - start_altitude) > maxaltchange:
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tholdstart = time.time() # this will cause this test to timeout and fails
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tholdstart = get_sim_time(mav) # this will cause this test to timeout and fails
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if delta > maxdistchange:
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tholdstart = time.time() # this will cause this test to timeout and fails
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if time.time() - tholdstart > holdtime:
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tholdstart = get_sim_time(mav) # this will cause this test to timeout and fails
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if get_sim_time(mav) - tholdstart > holdtime:
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print("Stability patch and Loiter OK for %u seconds" % holdtime)
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# restore motor 1 to 100% efficiency
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mavproxy.send('param set SIM_ENGINE_MUL 1.0\n')
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@ -382,8 +382,8 @@ def fly_fence_test(mavproxy, mav, timeout=180):
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return False
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# start timer
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tstart = time.time()
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while time.time() < tstart + timeout:
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tstart = get_sim_time(mav)
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while get_sim_time(mav) < tstart + timeout:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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pos = mav.location()
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home_distance = get_distance(HOME, pos)
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@ -464,7 +464,7 @@ def fly_gps_glitch_loiter_test(mavproxy, mav, timeout=30, max_distance=10):
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return False
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# record time and position
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tstart = time.time()
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tstart = get_sim_time(mav)
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start_pos = sim_location(mav)
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# initialise current glitch
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@ -474,9 +474,9 @@ def fly_gps_glitch_loiter_test(mavproxy, mav, timeout=30, max_distance=10):
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mavproxy.send('param set SIM_GPS_GLITCH_Y %.7f\n' % glitch_lon[glitch_current])
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# record position for 30 seconds
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while time.time() < tstart + timeout:
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while get_sim_time(mav) < tstart + timeout:
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time_in_sec = int(time.time() - tstart);
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time_in_sec = int(get_sim_time(mav) - tstart);
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if time_in_sec > glitch_current and glitch_current != -1:
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glitch_current = time_in_sec
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# turn off glitching if we've reached the end of the glitch list
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@ -549,7 +549,7 @@ def fly_gps_glitch_auto_test(mavproxy, mav, timeout=30, max_distance=100):
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return False
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# record time and position
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tstart = time.time()
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tstart = get_sim_time(mav)
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start_pos = sim_location(mav)
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# initialise current glitch
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@ -560,7 +560,7 @@ def fly_gps_glitch_auto_test(mavproxy, mav, timeout=30, max_distance=100):
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# record position for 30 seconds
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while glitch_current < glitch_num:
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time_in_sec = int(time.time() - tstart);
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time_in_sec = int(get_sim_time(mav) - tstart);
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if (time_in_sec * 2) > glitch_current and glitch_current != -1:
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glitch_current = (time_in_sec * 2)
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# apply next glitch
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@ -620,10 +620,10 @@ def fly_simple(mavproxy, mav, side=50, timeout=120):
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# fly west 8 seconds
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print("# Flying west for 8 seconds")
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mavproxy.send('rc 2 1300\n')
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tstart = time.time()
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while time.time() < (tstart + 8):
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tstart = get_sim_time(mav)
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while get_sim_time(mav) < (tstart + 8):
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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delta = (time.time() - tstart)
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delta = (get_sim_time(mav) - tstart)
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#print("%u" % delta)
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mavproxy.send('rc 2 1500\n')
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@ -637,10 +637,10 @@ def fly_simple(mavproxy, mav, side=50, timeout=120):
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# fly east 8 seconds
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print("# Flying east for 8 seconds")
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mavproxy.send('rc 2 1700\n')
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tstart = time.time()
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while time.time() < (tstart + 8):
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tstart = get_sim_time(mav)
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while get_sim_time(mav) < (tstart + 8):
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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delta = (time.time() - tstart)
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delta = (get_sim_time(mav) - tstart)
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#print("%u" % delta)
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mavproxy.send('rc 2 1500\n')
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@ -681,10 +681,10 @@ def fly_super_simple(mavproxy, mav, timeout=45):
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# roll left for timeout seconds
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print("# rolling left from pilot's point of view for %u seconds" % timeout)
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mavproxy.send('rc 1 1300\n')
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tstart = time.time()
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while time.time() < (tstart + timeout):
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tstart = get_sim_time(mav)
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while get_sim_time(mav) < (tstart + timeout):
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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delta = (time.time() - tstart)
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delta = (get_sim_time(mav) - tstart)
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# stop rolling and yawing
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mavproxy.send('rc 1 1500\n')
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@ -729,10 +729,10 @@ def fly_circle(mavproxy, mav, maxaltchange=10, holdtime=36):
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# wait
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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start_altitude = m.alt
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tstart = time.time()
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tholdstart = time.time()
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tstart = get_sim_time(mav)
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tholdstart = get_sim_time(mav)
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print("Circle at %u meters for %u seconds" % (start_altitude, holdtime))
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while time.time() < tstart + holdtime:
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while get_sim_time(mav) < tstart + holdtime:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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print("heading %u" % m.heading)
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@ -864,11 +864,6 @@ def setup_rc(mavproxy):
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# zero throttle
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mavproxy.send('rc 3 1000\n')
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def wait_seconds(mav, wait_time_sec):
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tstart = time.time()
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while time.time() < tstart + wait_time_sec:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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def fly_ArduCopter(viewerip=None, map=False):
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'''fly ArduCopter in SIL
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@ -956,7 +951,7 @@ def fly_ArduCopter(viewerip=None, map=False):
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homeloc = mav.location()
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# wait 10sec to allow EKF to settle
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wait_seconds(mav, 10)
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wait_sim_seconds(mav, 10)
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# Arm
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print("# Arm motors")
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