mirror of https://github.com/ArduPilot/ardupilot
autotest: use reflection to collect test details
We had a pattern emerging of using the test name as the method name to contain the actual test. We also tended to duplicate the docstrings in the test description - or omit the docstring. This uses reflection to retrieve both the test name and the description, meaning less duplication of this information and enforcing having docstrings on the test methods.
This commit is contained in:
Peter Barker
Peter Barker
parent
b06afa8316
commit
80c36ecc97
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@ -101,6 +101,7 @@ class AutoTestTracker(AutoTest):
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super(AutoTestTracker, self).reboot_sitl(*args, **kwargs)
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def GUIDED(self):
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'''Test GUIDED mode'''
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self.reboot_sitl() # temporary hack around control issues
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self.change_mode(4) # "GUIDED"
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self.achieve_attitude(desyaw=10, despitch=30)
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@ -108,6 +109,7 @@ class AutoTestTracker(AutoTest):
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self.achieve_attitude(desyaw=45, despitch=10)
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def MANUAL(self):
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'''Test MANUAL mode'''
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self.change_mode(0) # "MANUAL"
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for chan in 1, 2:
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for pwm in 1200, 1600, 1367:
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@ -115,6 +117,7 @@ class AutoTestTracker(AutoTest):
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self.wait_servo_channel_value(chan, pwm)
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def SERVOTEST(self):
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'''Test SERVOTEST mode'''
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self.change_mode(0) # "MANUAL"
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# magically changes to SERVOTEST (3)
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for value in 1900, 1200:
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@ -143,6 +146,7 @@ class AutoTestTracker(AutoTest):
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self.wait_servo_channel_value(channel, value)
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def SCAN(self):
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'''Test SCAN mode'''
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self.change_mode(2) # "SCAN"
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self.set_parameter("SCAN_SPEED_YAW", 20)
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for channel in 1, 2:
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@ -166,24 +170,10 @@ class AutoTestTracker(AutoTest):
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'''return list of all tests'''
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ret = super(AutoTestTracker, self).tests()
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ret.extend([
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("GUIDED",
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"Test GUIDED mode",
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self.GUIDED),
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("MANUAL",
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"Test MANUAL mode",
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self.MANUAL),
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("SERVOTEST",
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"Test SERVOTEST mode",
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self.SERVOTEST),
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("NMEAOutput",
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"Test AHRS NMEA Output can be read by out NMEA GPS",
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self.nmea_output),
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("SCAN",
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"Test SCAN mode",
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self.SCAN),
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self.GUIDED,
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self.MANUAL,
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self.SERVOTEST,
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self.NMEAOutput,
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self.SCAN,
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])
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return ret
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File diff suppressed because it is too large
Load Diff
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@ -550,7 +550,8 @@ class AutoTestPlane(AutoTest):
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self.context_pop()
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self.progress("Mission OK")
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def fly_do_reposition(self):
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def DO_REPOSITION(self):
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'''Test mavlink DO_REPOSITION command'''
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self.progress("Takeoff")
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self.takeoff(alt=50)
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self.set_rc(3, 1500)
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@ -575,7 +576,8 @@ class AutoTestPlane(AutoTest):
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self.fly_home_land_and_disarm()
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def fly_deepstall(self):
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def DeepStall(self):
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'''Test DeepStall Landing'''
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# self.fly_deepstall_absolute()
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self.fly_deepstall_relative()
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@ -648,6 +650,7 @@ class AutoTestPlane(AutoTest):
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self.fly_home_land_and_disarm(timeout=240)
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def SmartBattery(self):
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'''Test smart battery logging etc'''
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self.set_parameters({
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"BATT_MONITOR": 16, # Maxell battery monitor
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})
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@ -674,7 +677,7 @@ class AutoTestPlane(AutoTest):
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raise NotAchievedException("Expected BCL2 message")
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def DO_CHANGE_SPEED(self):
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'''test DO_CHANGE_SPEED both as a mavlink command and as a mission item'''
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'''Test DO_CHANGE_SPEED command/item'''
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# the following lines ensure we revert these parameter values
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# - DO_CHANGE_AIRSPEED is a permanent vehicle change!
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self.set_parameters({
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@ -814,7 +817,7 @@ class AutoTestPlane(AutoTest):
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# this is probably too noisy anyway?
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self.wait_disarmed(timeout=timeout)
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def fly_flaps(self):
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def TestFlaps(self):
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"""Test flaps functionality."""
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filename = "flaps.txt"
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self.context_push()
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@ -907,8 +910,8 @@ class AutoTestPlane(AutoTest):
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self.disarm_vehicle()
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raise ex
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def test_rc_relay(self):
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'''test toggling channel 12 toggles relay'''
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def TestRCRelay(self):
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'''Test Relay RC Channel Option'''
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self.set_parameter("RC12_OPTION", 28) # Relay On/Off
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self.set_rc(12, 1000)
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self.reboot_sitl() # needed for RC12_OPTION to take effect
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@ -934,8 +937,8 @@ class AutoTestPlane(AutoTest):
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if off:
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raise NotAchievedException("SIM_PIN_MASK doesn't reflect OFF")
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def test_rc_option_camera_trigger(self):
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'''test toggling channel 12 takes picture'''
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def TestRCCamera(self):
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'''Test RC Option - Camera Trigger'''
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self.set_parameter("RC12_OPTION", 9) # CameraTrigger
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self.reboot_sitl() # needed for RC12_OPTION to take effect
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@ -970,6 +973,7 @@ class AutoTestPlane(AutoTest):
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self.fly_home_land_and_disarm()
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def ThrottleFailsafe(self):
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'''Fly throttle failsafe'''
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self.change_mode('MANUAL')
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m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
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receiver_bit = mavutil.mavlink.MAV_SYS_STATUS_SENSOR_RC_RECEIVER
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@ -1113,7 +1117,8 @@ class AutoTestPlane(AutoTest):
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self.context_pop()
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self.reboot_sitl()
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def test_throttle_failsafe_fence(self):
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def ThrottleFailsafeFence(self):
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'''Fly fence survives throttle failsafe'''
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fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
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self.progress("Checking fence is not present before being configured")
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@ -1161,7 +1166,8 @@ class AutoTestPlane(AutoTest):
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raise NotAchievedException("Fence not enabled after RC fail")
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self.do_fence_disable() # Ensure the fence is disabled after test
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def test_gripper_mission(self):
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def TestGripperMission(self):
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'''Test Gripper mission items'''
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self.context_push()
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ex = None
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try:
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@ -1241,7 +1247,8 @@ class AutoTestPlane(AutoTest):
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on_radius_start_heading = None
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circle_time_start = 0
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def test_fence_static(self):
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def FenceStatic(self):
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'''Test Basic Fence Functionality'''
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ex = None
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try:
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self.progress("Checking for bizarre healthy-when-not-present-or-enabled")
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@ -1416,14 +1423,16 @@ class AutoTestPlane(AutoTest):
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if ex is not None:
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raise ex
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def test_fence_rtl(self):
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def FenceRTL(self):
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'''Test Fence RTL'''
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self.progress("Testing FENCE_ACTION_RTL no rally point")
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# have to disable the fence once we've breached or we breach
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# it as part of the loiter-at-home!
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self.test_fence_breach_circle_at(self.home_position_as_mav_location(),
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disable_on_breach=True)
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def test_fence_rtl_rally(self):
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def FenceRTLRally(self):
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'''Test Fence RTL Rally'''
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ex = None
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target_system = 1
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target_component = 1
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@ -1455,7 +1464,7 @@ class AutoTestPlane(AutoTest):
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if ex is not None:
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raise ex
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def test_fence_ret_rally(self):
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def FenceRetRally(self):
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""" Tests the FENCE_RET_RALLY flag, either returning to fence return point,
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or rally point """
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target_system = 1
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@ -1542,7 +1551,8 @@ class AutoTestPlane(AutoTest):
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self.do_fence_disable() # Disable fence so we can land
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self.fly_home_land_and_disarm() # Pack it up, we're going home.
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def test_parachute(self):
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def Parachute(self):
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'''Test Parachute'''
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self.set_rc(9, 1000)
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self.set_parameters({
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"CHUTE_ENABLED": 1,
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@ -1561,7 +1571,8 @@ class AutoTestPlane(AutoTest):
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self.disarm_vehicle(force=True)
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self.reboot_sitl()
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def test_parachute_sinkrate(self):
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def ParachuteSinkRate(self):
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'''Test Parachute (SinkRate triggering)'''
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self.set_rc(9, 1000)
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self.set_parameters({
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"CHUTE_ENABLED": 1,
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@ -1672,8 +1683,8 @@ class AutoTestPlane(AutoTest):
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self.check_attitudes_match(1, 2)
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def test_main_flight(self):
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def MainFlight(self):
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'''Lots of things in one flight'''
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self.change_mode('MANUAL')
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self.progress("Asserting we do support transfer of fence via mission item protocol")
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@ -1712,7 +1723,8 @@ class AutoTestPlane(AutoTest):
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self.run_subtest("Mission test",
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lambda: self.fly_mission("ap1.txt", strict=False))
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def airspeed_autocal(self):
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def AIRSPEED_AUTOCAL(self):
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'''Test AIRSPEED_AUTOCAL'''
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self.progress("Ensure no AIRSPEED_AUTOCAL on ground")
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self.set_parameters({
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"ARSPD_AUTOCAL": 1,
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@ -1815,13 +1827,16 @@ class AutoTestPlane(AutoTest):
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finally:
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self.remove_message_hook(validate_global_position_int_against_simstate)
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def deadreckoning(self):
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def Deadreckoning(self):
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'''Test deadreckoning support'''
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self.deadreckoning_main()
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def deadreckoning_no_airspeed_sensor(self):
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def DeadreckoningNoAirSpeed(self):
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'''Test deadreckoning support with no airspeed sensor'''
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self.deadreckoning_main(disable_airspeed_sensor=True)
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def climb_before_turn(self):
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def ClimbBeforeTurn(self):
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'''Test climb-before-turn'''
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self.wait_ready_to_arm()
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self.set_parameters({
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"FLIGHT_OPTIONS": 0,
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@ -1879,7 +1894,8 @@ class AutoTestPlane(AutoTest):
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self.fly_home_land_and_disarm(timeout=240)
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def rtl_climb_min(self):
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def RTL_CLIMB_MIN(self):
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'''Test RTL_CLIMB_MIN'''
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self.wait_ready_to_arm()
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rtl_climb_min = 100
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self.set_parameter("RTL_CLIMB_MIN", rtl_climb_min)
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@ -1925,7 +1941,8 @@ class AutoTestPlane(AutoTest):
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def sample_enable_parameter(self):
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return "Q_ENABLE"
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def test_rangefinder(self):
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def RangeFinder(self):
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'''Test RangeFinder Basic Functionality'''
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ex = None
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self.context_push()
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self.progress("Making sure we don't ordinarily get RANGEFINDER")
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@ -1989,11 +2006,13 @@ class AutoTestPlane(AutoTest):
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def default_mode(self):
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return "MANUAL"
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def test_pid_tuning(self):
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def PIDTuning(self):
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'''Test PID Tuning'''
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self.change_mode("FBWA") # we don't update PIDs in MANUAL
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super(AutoTestPlane, self).test_pid_tuning()
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super(AutoTestPlane, self).PIDTuning()
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def test_setting_modes_via_auxswitches(self):
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def AuxModeSwitch(self):
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'''Set modes via auxswitches'''
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self.set_parameter("FLTMODE1", 1) # circle
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self.set_rc(8, 950)
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self.wait_mode("CIRCLE")
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@ -2039,8 +2058,7 @@ class AutoTestPlane(AutoTest):
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last_collision = now
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def SimADSB(self):
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'''trivial tests to ensure simulated ADSB sensor continues to
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function'''
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'''Tests to ensure simulated ADSB sensor continues to function'''
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self.set_parameters({
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"SIM_ADSB_COUNT": 1,
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"ADSB_TYPE": 1,
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@ -2049,6 +2067,7 @@ function'''
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self.assert_receive_message('ADSB_VEHICLE', timeout=30)
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def ADSB(self):
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'''Test ADSB'''
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self.ADSB_f_action_rtl()
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self.ADSB_r_action_resume_or_loiter()
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@ -2153,7 +2172,8 @@ function'''
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if ex is not None:
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raise ex
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def fly_do_guided_request(self, target_system=1, target_component=1):
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def GuidedRequest(self, target_system=1, target_component=1):
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'''Test handling of MISSION_ITEM in guided mode'''
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self.progress("Takeoff")
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self.takeoff(alt=50)
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self.set_rc(3, 1500)
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@ -2239,6 +2259,7 @@ function'''
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self.fly_home_land_and_disarm()
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def LOITER(self):
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'''Test Loiter mode'''
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# first test old loiter behavour
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self.set_parameter("FLIGHT_OPTIONS", 0)
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self.takeoff(alt=200)
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@ -2306,11 +2327,13 @@ function'''
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'''In lockup Plane should copy RC inputs to RC outputs'''
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self.plane_CPUFailsafe()
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def test_large_missions(self):
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def LargeMissions(self):
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'''Test Manipulation of Large missions'''
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self.load_mission("Kingaroy-vlarge.txt", strict=False)
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self.load_mission("Kingaroy-vlarge2.txt", strict=False)
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def fly_soaring(self):
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def Soaring(self):
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'''Test Soaring feature'''
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model = "plane-soaring"
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@ -2421,7 +2444,8 @@ function'''
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self.progress("Mission OK")
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def fly_soaring_speed_to_fly(self):
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def SpeedToFly(self):
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'''Test soaring speed-to-fly'''
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model = "plane-soaring"
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@ -2553,7 +2577,8 @@ function'''
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self.disarm_vehicle(force=True)
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self.reboot_sitl()
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def test_airspeed_drivers(self):
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def AirspeedDrivers(self):
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'''Test AirSpeed drivers'''
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airspeed_sensors = [
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("MS5525", 3, 1),
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("DLVR", 7, 2),
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@ -2608,7 +2633,7 @@ function'''
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self.reboot_sitl()
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def TerrainMission(self):
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'''Test terrain following in mission'''
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self.install_terrain_handlers_context()
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num_wp = self.load_mission("ap-terrain.txt")
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@ -2679,6 +2704,7 @@ function'''
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(expected_terrain_height, report.terrain_height))
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def TerrainLoiter(self):
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'''Test terrain following in loiter'''
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self.context_push()
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self.set_parameters({
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"TERRAIN_FOLLOW": 1, # enable terrain following in loiter
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@ -2727,10 +2753,12 @@ function'''
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self.arm_vehicle()
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self.fly_mission(mission)
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def test_vectornav(self):
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def VectorNavEAHRS(self):
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'''Test VectorNav EAHRS support'''
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self.fly_external_AHRS("VectorNav", 1, "ap1.txt")
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def test_lord(self):
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def LordEAHRS(self):
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'''Test LORD Microstrain EAHRS support'''
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self.fly_external_AHRS("LORD", 2, "ap1.txt")
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def get_accelvec(self, m):
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@ -2739,7 +2767,8 @@ function'''
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def get_gyrovec(self, m):
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return Vector3(m.xgyro, m.ygyro, m.zgyro) * 0.001 * math.degrees(1)
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def test_imu_tempcal(self):
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def IMUTempCal(self):
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'''Test IMU temperature calibration'''
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self.progress("Setting up SITL temperature profile")
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self.set_parameters({
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"SIM_IMUT1_ENABLE" : 1,
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@ -2908,7 +2937,8 @@ function'''
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# parameters). So wipe the vehicle's eeprom:
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self.reset_SITL_commandline()
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def ekf_lane_switch(self):
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def EKFlaneswitch(self):
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'''Test EKF3 Affinity and Lane Switching'''
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self.context_push()
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ex = None
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@ -3106,7 +3136,8 @@ function'''
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if ex is not None:
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raise ex
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def test_fence_alt_ceil_floor(self):
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def FenceAltCeilFloor(self):
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'''Tests the fence ceiling and floor'''
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fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
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self.set_parameters({
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"FENCE_TYPE": 9, # Set fence type to max and min alt
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@ -3151,7 +3182,8 @@ function'''
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self.fly_home_land_and_disarm(timeout=150)
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def test_fence_breached_change_mode(self):
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def FenceBreachedChangeMode(self):
|
||||
'''Tests manual mode change after fence breach, as set with FENCE_OPTIONS'''
|
||||
""" Attempts to change mode while a fence is breached.
|
||||
mode should change should fail if fence option bit is set"""
|
||||
self.set_parameters({
|
||||
|
|
@ -3210,7 +3242,8 @@ function'''
|
|||
self.do_fence_disable()
|
||||
self.fly_home_land_and_disarm()
|
||||
|
||||
def test_fence_breach_no_return_point(self):
|
||||
def FenceNoFenceReturnPoint(self):
|
||||
'''Tests calculated return point during fence breach when no fence return point present'''
|
||||
""" Attempts to change mode while a fence is breached.
|
||||
This should revert to the mode specified by the fence action. """
|
||||
want_radius = 100 # Fence Return Radius
|
||||
|
|
@ -3285,7 +3318,8 @@ function'''
|
|||
self.do_fence_disable()
|
||||
self.fly_home_land_and_disarm()
|
||||
|
||||
def test_fence_breach_no_return_point_no_inclusion(self):
|
||||
def FenceNoFenceReturnPointInclusion(self):
|
||||
'''Tests using home as fence return point when none is present, and no inclusion fence is uploaded'''
|
||||
""" Test result when a breach occurs and No fence return point is present and
|
||||
no inclusion fence is present and exclusion fence is present """
|
||||
want_radius = 100 # Fence Return Radius
|
||||
|
|
@ -3333,7 +3367,8 @@ function'''
|
|||
self.do_fence_disable()
|
||||
self.fly_home_land_and_disarm()
|
||||
|
||||
def test_fence_disable_under_breach_action(self):
|
||||
def FenceDisableUnderAction(self):
|
||||
'''Tests Disabling fence while undergoing action caused by breach'''
|
||||
""" Fence breach will cause the vehicle to enter guided mode.
|
||||
Upon breach clear, check the vehicle is in the expected mode"""
|
||||
self.set_parameters({
|
||||
|
|
@ -3374,7 +3409,8 @@ function'''
|
|||
want_result=want_result
|
||||
)
|
||||
|
||||
def fly_aux_function(self):
|
||||
def MAV_DO_AUX_FUNCTION(self):
|
||||
'''Test triggering Auxiliary Functions via mavlink'''
|
||||
self.context_collect('STATUSTEXT')
|
||||
self.run_auxfunc(64, 2) # 64 == reverse throttle
|
||||
self.wait_statustext("RevThrottle: ENABLE", check_context=True)
|
||||
|
|
@ -3396,7 +3432,8 @@ function'''
|
|||
want_result=mavutil.mavlink.MAV_RESULT_DENIED
|
||||
)
|
||||
|
||||
def fly_each_frame(self):
|
||||
def FlyEachFrame(self):
|
||||
'''Fly each supported internal frame'''
|
||||
vinfo = vehicleinfo.VehicleInfo()
|
||||
vinfo_options = vinfo.options[self.vehicleinfo_key()]
|
||||
known_broken_frames = {
|
||||
|
|
@ -3444,6 +3481,7 @@ function'''
|
|||
self.wait_disarmed()
|
||||
|
||||
def RCDisableAirspeedUse(self):
|
||||
'''Test RC DisableAirspeedUse option'''
|
||||
self.set_parameter("RC9_OPTION", 106)
|
||||
self.delay_sim_time(5)
|
||||
self.set_rc(9, 1000)
|
||||
|
|
@ -3466,6 +3504,7 @@ function'''
|
|||
True)
|
||||
|
||||
def WatchdogHome(self):
|
||||
'''Ensure home is restored after watchdog reset'''
|
||||
if self.gdb:
|
||||
# we end up signalling the wrong process. I think.
|
||||
# Probably need to have a "sitl_pid()" method to get the
|
||||
|
|
@ -3519,6 +3558,7 @@ function'''
|
|||
raise ex
|
||||
|
||||
def AUTOTUNE(self):
|
||||
'''Test AutoTune mode'''
|
||||
self.takeoff(100)
|
||||
self.change_mode('AUTOTUNE')
|
||||
self.context_collect('STATUSTEXT')
|
||||
|
|
@ -3569,8 +3609,8 @@ function'''
|
|||
self.change_mode('FBWA')
|
||||
self.fly_home_land_and_disarm(timeout=tdelta+240)
|
||||
|
||||
def fly_landing_baro_drift(self):
|
||||
|
||||
def LandingDrift(self):
|
||||
'''Circuit with baro drift'''
|
||||
self.customise_SITL_commandline([], wipe=True)
|
||||
|
||||
self.set_analog_rangefinder_parameters()
|
||||
|
|
@ -3607,6 +3647,7 @@ function'''
|
|||
self.wait_disarmed(timeout=180)
|
||||
|
||||
def DCMFallback(self):
|
||||
'''Really annoy the EKF and force fallback'''
|
||||
self.reboot_sitl()
|
||||
self.delay_sim_time(30)
|
||||
self.wait_ready_to_arm()
|
||||
|
|
@ -3631,7 +3672,7 @@ function'''
|
|||
self.fly_home_land_and_disarm()
|
||||
|
||||
def ForcedDCM(self):
|
||||
|
||||
'''Switch to DCM mid-flight'''
|
||||
self.wait_ready_to_arm()
|
||||
self.arm_vehicle()
|
||||
|
||||
|
|
@ -3644,6 +3685,7 @@ function'''
|
|||
self.fly_home_land_and_disarm()
|
||||
|
||||
def MegaSquirt(self):
|
||||
'''Test MegaSquirt EFI'''
|
||||
self.assert_not_receiving_message('EFI_STATUS')
|
||||
self.set_parameters({
|
||||
'SIM_EFI_TYPE': 1,
|
||||
|
|
@ -3661,7 +3703,8 @@ function'''
|
|||
if m.intake_manifold_temperature < 20:
|
||||
raise NotAchievedException("Bad intake manifold temperature")
|
||||
|
||||
def test_glide_slope_threshold(self):
|
||||
def GlideSlopeThresh(self):
|
||||
'''Test rebuild glide slope if above and climbing'''
|
||||
|
||||
# Test that GLIDE_SLOPE_THRESHOLD correctly controls re-planning glide slope
|
||||
# in the scenario that aircraft is above planned slope and slope is positive (climbing).
|
||||
|
|
@ -3866,6 +3909,7 @@ function'''
|
|||
self.fly_home_land_and_disarm(timeout=180)
|
||||
|
||||
def MidAirDisarmDisallowed(self):
|
||||
'''Ensure mid-air disarm is not possible'''
|
||||
self.takeoff(50)
|
||||
disarmed = False
|
||||
try:
|
||||
|
|
@ -3885,289 +3929,82 @@ function'''
|
|||
'''return list of all tests'''
|
||||
ret = super(AutoTestPlane, self).tests()
|
||||
ret.extend([
|
||||
|
||||
("AuxModeSwitch",
|
||||
"Set modes via auxswitches",
|
||||
self.test_setting_modes_via_auxswitches),
|
||||
|
||||
("TestRCCamera",
|
||||
"Test RC Option - Camera Trigger",
|
||||
self.test_rc_option_camera_trigger),
|
||||
|
||||
("TestRCRelay", "Test Relay RC Channel Option", self.test_rc_relay),
|
||||
|
||||
("ThrottleFailsafe",
|
||||
"Fly throttle failsafe",
|
||||
self.ThrottleFailsafe),
|
||||
|
||||
("NeedEKFToArm",
|
||||
"Ensure we need EKF to be healthy to arm",
|
||||
self.NeedEKFToArm),
|
||||
|
||||
("ThrottleFailsafeFence",
|
||||
"Fly fence survives throttle failsafe",
|
||||
self.test_throttle_failsafe_fence),
|
||||
|
||||
("TestFlaps", "Flaps", self.fly_flaps),
|
||||
|
||||
("DO_CHANGE_SPEED",
|
||||
"Test DO_CHANGE_SPEED command/item",
|
||||
self.DO_CHANGE_SPEED),
|
||||
|
||||
("DO_REPOSITION",
|
||||
"Test mavlink DO_REPOSITION command",
|
||||
self.fly_do_reposition),
|
||||
|
||||
("GuidedRequest",
|
||||
"Test handling of MISSION_ITEM in guided mode",
|
||||
self.fly_do_guided_request),
|
||||
|
||||
("MainFlight",
|
||||
"Lots of things in one flight",
|
||||
self.test_main_flight),
|
||||
|
||||
("TestGripperMission",
|
||||
"Test Gripper mission items",
|
||||
self.test_gripper_mission),
|
||||
|
||||
("Parachute", "Test Parachute", self.test_parachute),
|
||||
|
||||
("ParachuteSinkRate", "Test Parachute (SinkRate triggering)", self.test_parachute_sinkrate),
|
||||
|
||||
("AIRSPEED_AUTOCAL", "Test AIRSPEED_AUTOCAL", self.airspeed_autocal),
|
||||
|
||||
("RangeFinder",
|
||||
"Test RangeFinder Basic Functionality",
|
||||
self.test_rangefinder),
|
||||
|
||||
("FenceStatic",
|
||||
"Test Basic Fence Functionality",
|
||||
self.test_fence_static),
|
||||
|
||||
("FenceRTL",
|
||||
"Test Fence RTL",
|
||||
self.test_fence_rtl),
|
||||
|
||||
("FenceRTLRally",
|
||||
"Test Fence RTL Rally",
|
||||
self.test_fence_rtl_rally),
|
||||
|
||||
("FenceRetRally",
|
||||
"Test Fence Ret_Rally",
|
||||
self.test_fence_ret_rally),
|
||||
|
||||
("FenceAltCeilFloor",
|
||||
"Tests the fence ceiling and floor",
|
||||
self.test_fence_alt_ceil_floor),
|
||||
|
||||
("FenceBreachedChangeMode",
|
||||
"Tests manual mode change after fence breach, as set with FENCE_OPTIONS",
|
||||
self.test_fence_breached_change_mode),
|
||||
|
||||
("FenceNoFenceReturnPoint",
|
||||
"Tests calculated return point during fence breach when no fence return point present",
|
||||
self.test_fence_breach_no_return_point),
|
||||
|
||||
("FenceNoFenceReturnPointInclusion",
|
||||
"Tests using home as fence return point when none is present, and no inclusion fence is uploaded",
|
||||
self.test_fence_breach_no_return_point_no_inclusion),
|
||||
|
||||
("FenceDisableUnderAction",
|
||||
"Tests Disabling fence while undergoing action caused by breach",
|
||||
self.test_fence_disable_under_breach_action),
|
||||
|
||||
("ADSB",
|
||||
"Test ADSB",
|
||||
self.ADSB),
|
||||
|
||||
("SimADSB",
|
||||
"Test SIM_ADSB",
|
||||
self.SimADSB),
|
||||
|
||||
("Button",
|
||||
"Test Buttons",
|
||||
self.test_button),
|
||||
|
||||
("FRSkySPort",
|
||||
"Test FrSky SPort mode",
|
||||
self.test_frsky_sport),
|
||||
|
||||
("FRSkyPassThroughStatustext",
|
||||
"Test FrSky PassThrough serial output - statustext",
|
||||
self.FRSkyPassThroughStatustext),
|
||||
|
||||
("FRSkyPassThroughSensorIDs",
|
||||
"Test FrSky PassThrough serial output - sensor ids",
|
||||
self.FRSkyPassThroughSensorIDs),
|
||||
|
||||
("FRSkyMAVlite",
|
||||
"Test FrSky MAVlite serial output",
|
||||
self.test_frsky_mavlite),
|
||||
|
||||
("FRSkyD",
|
||||
"Test FrSkyD serial output",
|
||||
self.test_frsky_d),
|
||||
|
||||
("LTM",
|
||||
"Test LTM serial output",
|
||||
self.test_ltm),
|
||||
|
||||
("DEVO",
|
||||
"Test DEVO serial output",
|
||||
self.DEVO),
|
||||
|
||||
("AdvancedFailsafe",
|
||||
"Test Advanced Failsafe",
|
||||
self.test_advanced_failsafe),
|
||||
|
||||
("LOITER",
|
||||
"Test Loiter mode",
|
||||
self.LOITER),
|
||||
|
||||
("MAV_CMD_NAV_LOITER_TURNS",
|
||||
"Test NAV_LOITER_TURNS mission item",
|
||||
self.MAV_CMD_NAV_LOITER_TURNS),
|
||||
|
||||
("DeepStall",
|
||||
"Test DeepStall Landing",
|
||||
self.fly_deepstall),
|
||||
|
||||
("WatchdogHome",
|
||||
"Ensure home is restored after watchdog reset",
|
||||
self.WatchdogHome),
|
||||
|
||||
("LargeMissions",
|
||||
"Test Manipulation of Large missions",
|
||||
self.test_large_missions),
|
||||
|
||||
("Soaring",
|
||||
"Test Soaring feature",
|
||||
self.fly_soaring),
|
||||
|
||||
("Terrain",
|
||||
"Test AP_Terrain",
|
||||
self.Terrain),
|
||||
|
||||
("TerrainMission",
|
||||
"Test terrain following in mission",
|
||||
self.TerrainMission),
|
||||
|
||||
("TerrainLoiter",
|
||||
"Test terrain following in loiter",
|
||||
self.TerrainLoiter),
|
||||
|
||||
("VectorNavEAHRS",
|
||||
"Test VectorNav EAHRS support",
|
||||
self.test_vectornav),
|
||||
|
||||
("LordEAHRS",
|
||||
"Test LORD Microstrain EAHRS support",
|
||||
self.test_lord),
|
||||
|
||||
("Deadreckoning",
|
||||
"Test deadreckoning support",
|
||||
self.deadreckoning),
|
||||
|
||||
("DeadreckoningNoAirSpeed",
|
||||
"Test deadreckoning support with no airspeed sensor",
|
||||
self.deadreckoning_no_airspeed_sensor),
|
||||
|
||||
("EKFlaneswitch",
|
||||
"Test EKF3 Affinity and Lane Switching",
|
||||
self.ekf_lane_switch),
|
||||
|
||||
("AirspeedDrivers",
|
||||
"Test AirSpeed drivers",
|
||||
self.test_airspeed_drivers),
|
||||
|
||||
("RTL_CLIMB_MIN",
|
||||
"Test RTL_CLIMB_MIN",
|
||||
self.rtl_climb_min),
|
||||
|
||||
("ClimbBeforeTurn",
|
||||
"Test climb-before-turn",
|
||||
self.climb_before_turn),
|
||||
|
||||
("IMUTempCal",
|
||||
"Test IMU temperature calibration",
|
||||
self.test_imu_tempcal),
|
||||
|
||||
("MAV_DO_AUX_FUNCTION",
|
||||
"Test triggering Auxiliary Functions via mavlink",
|
||||
self.fly_aux_function),
|
||||
|
||||
("SmartBattery",
|
||||
"Test smart battery logging etc",
|
||||
self.SmartBattery),
|
||||
|
||||
("FlyEachFrame",
|
||||
"Fly each supported internal frame",
|
||||
self.fly_each_frame),
|
||||
|
||||
("RCDisableAirspeedUse",
|
||||
"Test RC DisableAirspeedUse option",
|
||||
self.RCDisableAirspeedUse),
|
||||
|
||||
("AHRS_ORIENTATION",
|
||||
"Test AHRS_ORIENTATION parameter",
|
||||
self.AHRS_ORIENTATION),
|
||||
|
||||
("AHRSTrim",
|
||||
"AHRS trim testing",
|
||||
self.ahrstrim),
|
||||
|
||||
("Landing-Drift",
|
||||
"Circuit with baro drift",
|
||||
self.fly_landing_baro_drift),
|
||||
|
||||
("ForcedDCM",
|
||||
"Switch to DCM mid-flight",
|
||||
self.ForcedDCM),
|
||||
|
||||
("DCMFallback",
|
||||
"Really annoy the EKF and force fallback",
|
||||
self.DCMFallback),
|
||||
|
||||
("MAVFTP",
|
||||
"Test MAVProxy can talk FTP to autopilot",
|
||||
self.MAVFTP),
|
||||
|
||||
("AUTOTUNE",
|
||||
"Test AutoTune mode",
|
||||
self.AUTOTUNE),
|
||||
|
||||
("MegaSquirt",
|
||||
"Test MegaSquirt EFI",
|
||||
self.MegaSquirt),
|
||||
|
||||
("MSP_DJI",
|
||||
"Test MSP DJI serial output",
|
||||
self.test_msp_dji),
|
||||
|
||||
("SpeedToFly",
|
||||
"Test soaring speed-to-fly",
|
||||
self.fly_soaring_speed_to_fly),
|
||||
|
||||
("GlideSlopeThresh",
|
||||
"Test rebuild glide slope if above and climbing",
|
||||
self.test_glide_slope_threshold),
|
||||
|
||||
("LogUpload",
|
||||
"Log upload",
|
||||
self.log_upload),
|
||||
|
||||
("HIGH_LATENCY2",
|
||||
"Set sending of HIGH_LATENCY2",
|
||||
self.HIGH_LATENCY2),
|
||||
|
||||
("MidAirDisarmDisallowed",
|
||||
"Ensure mid-air disarm is not possible",
|
||||
self.MidAirDisarmDisallowed),
|
||||
|
||||
self.AuxModeSwitch,
|
||||
self.TestRCCamera,
|
||||
self.TestRCRelay,
|
||||
self.ThrottleFailsafe,
|
||||
self.NeedEKFToArm,
|
||||
self.ThrottleFailsafeFence,
|
||||
self.TestFlaps,
|
||||
self.DO_CHANGE_SPEED,
|
||||
self.DO_REPOSITION,
|
||||
self.GuidedRequest,
|
||||
self.MainFlight,
|
||||
self.TestGripperMission,
|
||||
self.Parachute,
|
||||
self.ParachuteSinkRate,
|
||||
self.AIRSPEED_AUTOCAL,
|
||||
self.RangeFinder,
|
||||
self.FenceStatic,
|
||||
self.FenceRTL,
|
||||
self.FenceRTLRally,
|
||||
self.FenceRetRally,
|
||||
self.FenceAltCeilFloor,
|
||||
self.FenceBreachedChangeMode,
|
||||
self.FenceNoFenceReturnPoint,
|
||||
self.FenceNoFenceReturnPointInclusion,
|
||||
self.FenceDisableUnderAction,
|
||||
self.ADSB,
|
||||
self.SimADSB,
|
||||
self.Button,
|
||||
self.FRSkySPort,
|
||||
self.FRSkyPassThroughStatustext,
|
||||
self.FRSkyPassThroughSensorIDs,
|
||||
self.FRSkyMAVlite,
|
||||
self.FRSkyD,
|
||||
self.LTM,
|
||||
self.DEVO,
|
||||
self.AdvancedFailsafe,
|
||||
self.LOITER,
|
||||
self.MAV_CMD_NAV_LOITER_TURNS,
|
||||
self.DeepStall,
|
||||
self.WatchdogHome,
|
||||
self.LargeMissions,
|
||||
self.Soaring,
|
||||
self.Terrain,
|
||||
self.TerrainMission,
|
||||
self.TerrainLoiter,
|
||||
self.VectorNavEAHRS,
|
||||
self.LordEAHRS,
|
||||
self.Deadreckoning,
|
||||
self.DeadreckoningNoAirSpeed,
|
||||
self.EKFlaneswitch,
|
||||
self.AirspeedDrivers,
|
||||
self.RTL_CLIMB_MIN,
|
||||
self.ClimbBeforeTurn,
|
||||
self.IMUTempCal,
|
||||
self.MAV_DO_AUX_FUNCTION,
|
||||
self.SmartBattery,
|
||||
self.FlyEachFrame,
|
||||
self.RCDisableAirspeedUse,
|
||||
self.AHRS_ORIENTATION,
|
||||
self.AHRSTrim,
|
||||
self.LandingDrift,
|
||||
self.ForcedDCM,
|
||||
self.DCMFallback,
|
||||
self.MAVFTP,
|
||||
self.AUTOTUNE,
|
||||
self.MegaSquirt,
|
||||
self.MSP_DJI,
|
||||
self.SpeedToFly,
|
||||
self.GlideSlopeThresh,
|
||||
self.LogUpload,
|
||||
self.HIGH_LATENCY2,
|
||||
self.MidAirDisarmDisallowed,
|
||||
])
|
||||
return ret
|
||||
|
||||
def disabled_tests(self):
|
||||
return {
|
||||
"Landing-Drift": "Flapping test. See https://github.com/ArduPilot/ardupilot/issues/20054",
|
||||
"LandingDrift": "Flapping test. See https://github.com/ArduPilot/ardupilot/issues/20054",
|
||||
}
|
||||
|
|
|
|||
|
|
@ -103,9 +103,8 @@ class AutoTestSub(AutoTest):
|
|||
"Altitude not maintained: want %.2f (+/- %.2f) got=%.2f" %
|
||||
(previous_altitude, delta, m.alt))
|
||||
|
||||
def test_alt_hold(self):
|
||||
"""Test ALT_HOLD mode
|
||||
"""
|
||||
def AltitudeHold(self):
|
||||
"""Test ALT_HOLD mode"""
|
||||
self.wait_ready_to_arm()
|
||||
self.arm_vehicle()
|
||||
self.change_mode('ALT_HOLD')
|
||||
|
|
@ -167,7 +166,7 @@ class AutoTestSub(AutoTest):
|
|||
self.watch_altitude_maintained()
|
||||
self.disarm_vehicle()
|
||||
|
||||
def test_pos_hold(self):
|
||||
def PositionHold(self):
|
||||
"""Test POSHOLD mode"""
|
||||
self.wait_ready_to_arm()
|
||||
self.arm_vehicle()
|
||||
|
|
@ -213,9 +212,8 @@ class AutoTestSub(AutoTest):
|
|||
raise NotAchievedException("Position Hold was unable to move north 2 meters, moved {} at {} degrees instead".format(distance_m, bearing)) # noqa
|
||||
self.disarm_vehicle()
|
||||
|
||||
def test_mot_thst_hover_ignore(self):
|
||||
"""Test if we are ignoring MOT_THST_HOVER parameter
|
||||
"""
|
||||
def MotorThrustHoverParameterIgnore(self):
|
||||
"""Test if we are ignoring MOT_THST_HOVER parameter"""
|
||||
|
||||
# Test default parameter value
|
||||
mot_thst_hover_value = self.get_parameter("MOT_THST_HOVER")
|
||||
|
|
@ -225,9 +223,10 @@ class AutoTestSub(AutoTest):
|
|||
# Test if parameter is being ignored
|
||||
for value in [0.25, 0.75]:
|
||||
self.set_parameter("MOT_THST_HOVER", value)
|
||||
self.test_alt_hold()
|
||||
self.AltitudeHold()
|
||||
|
||||
def dive_manual(self):
|
||||
def DiveManual(self):
|
||||
'''Dive manual'''
|
||||
self.wait_ready_to_arm()
|
||||
self.arm_vehicle()
|
||||
|
||||
|
|
@ -259,7 +258,9 @@ class AutoTestSub(AutoTest):
|
|||
if m.temperature != 2650:
|
||||
raise NotAchievedException("Did not get correct TSYS01 temperature")
|
||||
|
||||
def dive_mission(self, filename):
|
||||
def DiveMission(self):
|
||||
'''Dive mission'''
|
||||
filename = "sub_mission.txt"
|
||||
self.progress("Executing mission %s" % filename)
|
||||
self.load_mission(filename)
|
||||
self.set_rc_default()
|
||||
|
|
@ -274,7 +275,8 @@ class AutoTestSub(AutoTest):
|
|||
|
||||
self.progress("Mission OK")
|
||||
|
||||
def test_gripper_mission(self):
|
||||
def GripperMission(self):
|
||||
'''Test gripper mission items'''
|
||||
try:
|
||||
self.get_parameter("GRIP_ENABLE", timeout=5)
|
||||
except NotAchievedException:
|
||||
|
|
@ -289,7 +291,8 @@ class AutoTestSub(AutoTest):
|
|||
self.wait_statustext("Gripper Grabbed", timeout=60)
|
||||
self.wait_statustext("Gripper Released", timeout=60)
|
||||
|
||||
def dive_set_position_target(self):
|
||||
def SET_POSITION_TARGET_GLOBAL_INT(self):
|
||||
'''Move vehicle using SET_POSITION_TARGET_GLOBAL_INT'''
|
||||
self.change_mode('GUIDED')
|
||||
self.wait_ready_to_arm()
|
||||
self.arm_vehicle()
|
||||
|
|
@ -376,6 +379,7 @@ class AutoTestSub(AutoTest):
|
|||
self.initialise_after_reboot_sitl()
|
||||
|
||||
def DoubleCircle(self):
|
||||
'''Test entering circle twice'''
|
||||
self.change_mode('CIRCLE')
|
||||
self.wait_ready_to_arm()
|
||||
self.arm_vehicle()
|
||||
|
|
@ -400,36 +404,16 @@ class AutoTestSub(AutoTest):
|
|||
ret = super(AutoTestSub, self).tests()
|
||||
|
||||
ret.extend([
|
||||
("DiveManual", "Dive manual", self.dive_manual),
|
||||
|
||||
("AltitudeHold", "Test altitude holde mode", self.test_alt_hold),
|
||||
("PositionHold", "Test position hold mode", self.test_pos_hold),
|
||||
|
||||
("DiveMission",
|
||||
"Dive mission",
|
||||
lambda: self.dive_mission("sub_mission.txt")),
|
||||
|
||||
("GripperMission",
|
||||
"Test gripper mission items",
|
||||
self.test_gripper_mission),
|
||||
|
||||
("DoubleCircle",
|
||||
"Test entering circle twice",
|
||||
self.DoubleCircle),
|
||||
|
||||
("MotorThrustHoverParameterIgnore", "Test if we are ignoring MOT_THST_HOVER", self.test_mot_thst_hover_ignore),
|
||||
|
||||
("SET_POSITION_TARGET_GLOBAL_INT",
|
||||
"Move vehicle using SET_POSITION_TARGET_GLOBAL_INT",
|
||||
self.dive_set_position_target),
|
||||
|
||||
("TestLogDownloadMAVProxy",
|
||||
"Test Onboard Log Download using MAVProxy",
|
||||
self.test_log_download_mavproxy),
|
||||
|
||||
("LogUpload",
|
||||
"Upload logs",
|
||||
self.log_upload),
|
||||
self.DiveManual,
|
||||
self.AltitudeHold,
|
||||
self.PositionHold,
|
||||
self.DiveMission,
|
||||
self.GripperMission,
|
||||
self.DoubleCircle,
|
||||
self.MotorThrustHoverParameterIgnore,
|
||||
self.SET_POSITION_TARGET_GLOBAL_INT,
|
||||
self.TestLogDownloadMAVProxy,
|
||||
self.LogUpload,
|
||||
])
|
||||
|
||||
return ret
|
||||
|
|
|
|||
|
|
@ -31,7 +31,8 @@ class AutoTestBalanceBot(AutoTestRover):
|
|||
self.frame = 'balancebot'
|
||||
super(AutoTestBalanceBot, self).init()
|
||||
|
||||
def test_do_set_mode_via_command_long(self):
|
||||
def DO_SET_MODE(self):
|
||||
'''Set mode via MAV_COMMAND_DO_SET_MODE'''
|
||||
self.do_set_mode_via_command_long("HOLD")
|
||||
self.do_set_mode_via_command_long("MANUAL")
|
||||
|
||||
|
|
@ -48,13 +49,14 @@ class AutoTestBalanceBot(AutoTestRover):
|
|||
'''balancebot tends to wander backwards, away from the target'''
|
||||
return 8
|
||||
|
||||
def drive_rtl_mission(self):
|
||||
def DriveRTL(self):
|
||||
'''Drive an RTL Mission'''
|
||||
# if we Hold then the balancebot continues to wander
|
||||
# indefinitely at ~1m/s, hence we set to Acro
|
||||
self.set_parameter("MIS_DONE_BEHAVE", 2)
|
||||
super(AutoTestBalanceBot, self).drive_rtl_mission()
|
||||
super(AutoTestBalanceBot, self).DriveRTL()
|
||||
|
||||
def test_wheelencoders(self):
|
||||
def TestWheelEncoder(self):
|
||||
'''make sure wheel encoders are generally working'''
|
||||
ex = None
|
||||
try:
|
||||
|
|
@ -95,6 +97,10 @@ class AutoTestBalanceBot(AutoTestRover):
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def DriveMission(self):
|
||||
'''Drive Mission rover1.txt'''
|
||||
self.drive_mission("balancebot1.txt", strict=False)
|
||||
|
||||
def tests(self):
|
||||
'''return list of all tests'''
|
||||
|
||||
|
|
@ -103,32 +109,13 @@ inherit Rover's tests!'''
|
|||
ret = AutoTest.tests(self)
|
||||
|
||||
ret.extend([
|
||||
|
||||
("DriveRTL",
|
||||
"Drive an RTL Mission",
|
||||
self.drive_rtl_mission),
|
||||
|
||||
("DriveMission",
|
||||
"Drive Mission %s" % "balancebot1.txt",
|
||||
lambda: self.drive_mission("balancebot1.txt", strict=False)),
|
||||
|
||||
("TestWheelEncoder",
|
||||
"Test wheel encoders",
|
||||
self.test_wheelencoders),
|
||||
|
||||
("GetBanner", "Get Banner", self.do_get_banner),
|
||||
|
||||
("DO_SET_MODE",
|
||||
"Set mode via MAV_COMMAND_DO_SET_MODE",
|
||||
self.test_do_set_mode_via_command_long),
|
||||
|
||||
("ServoRelayEvents",
|
||||
"Test ServoRelayEvents",
|
||||
self.test_servorelayevents),
|
||||
|
||||
("LogUpload",
|
||||
"Upload logs",
|
||||
self.log_upload),
|
||||
self.DriveRTL,
|
||||
self.DriveMission,
|
||||
self.TestWheelEncoder,
|
||||
self.GetBanner,
|
||||
self.DO_SET_MODE,
|
||||
self.ServoRelayEvents,
|
||||
self.LogUpload,
|
||||
])
|
||||
return ret
|
||||
|
||||
|
|
|
|||
|
|
@ -1435,9 +1435,11 @@ class LocationInt(object):
|
|||
|
||||
class Test(object):
|
||||
'''a test definition - information about a test'''
|
||||
def __init__(self, name, description, function, attempts=1, speedup=None):
|
||||
self.name = name
|
||||
self.description = description
|
||||
def __init__(self, function, attempts=1, speedup=None):
|
||||
self.name = function.__name__
|
||||
self.description = function.__doc__
|
||||
if self.description is None:
|
||||
raise ValueError("%s is missing a docstring" % self.name)
|
||||
self.function = function
|
||||
self.attempts = attempts
|
||||
self.speedup = speedup
|
||||
|
|
@ -2432,8 +2434,8 @@ class AutoTest(ABC):
|
|||
|
||||
return ids
|
||||
|
||||
def test_onboard_logging_generation(self):
|
||||
'''just generates, as we can't do a lot of testing'''
|
||||
def LoggerDocumentation(self):
|
||||
'''Test Onboard Logging Generation'''
|
||||
xml_filepath = os.path.join(self.buildlogs_dirpath(), "LogMessages.xml")
|
||||
parse_filepath = os.path.join(self.rootdir(), 'Tools', 'autotest', 'logger_metadata', 'parse.py')
|
||||
try:
|
||||
|
|
@ -3036,7 +3038,8 @@ class AutoTest(ABC):
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def test_log_download(self):
|
||||
def LogDownload(self):
|
||||
'''Test Onboard Log Download'''
|
||||
if self.is_tracker():
|
||||
# tracker starts armed, which is annoying
|
||||
return
|
||||
|
|
@ -3625,14 +3628,15 @@ class AutoTest(ABC):
|
|||
if len(post_arming_list) <= len(pre_arming_list):
|
||||
raise NotAchievedException("Did not get a log on forced arm")
|
||||
|
||||
def test_onboard_logging(self):
|
||||
def Logging(self):
|
||||
'''Test Onboard Logging'''
|
||||
if self.is_tracker():
|
||||
return
|
||||
self.onboard_logging_forced_arm()
|
||||
self.onboard_logging_log_disarmed()
|
||||
self.onboard_logging_not_log_disarmed()
|
||||
|
||||
def test_log_download_mavproxy(self, upload_logs=False):
|
||||
def TestLogDownloadMAVProxy(self, upload_logs=False):
|
||||
"""Download latest log."""
|
||||
filename = "MAVProxy-downloaded-log.BIN"
|
||||
mavproxy = self.start_mavproxy()
|
||||
|
|
@ -3647,7 +3651,8 @@ class AutoTest(ABC):
|
|||
self.mavproxy_unload_module(mavproxy, 'log')
|
||||
self.stop_mavproxy(mavproxy)
|
||||
|
||||
def log_upload(self):
|
||||
def LogUpload(self):
|
||||
'''upload logs to ArduPilot firmware server'''
|
||||
self.progress("Log upload disabled as CI artifacts are good")
|
||||
return
|
||||
if len(self.fail_list) > 0 and os.getenv("AUTOTEST_UPLOAD"):
|
||||
|
|
@ -4687,7 +4692,8 @@ class AutoTest(ABC):
|
|||
return
|
||||
|
||||
def CPUFailsafe(self):
|
||||
'''Most vehicles just disarm on failsafe'''
|
||||
'''Ensure we do something appropriate when the main loop stops'''
|
||||
# Most vehicles just disarm on failsafe
|
||||
# customising the SITL commandline ensures the process will
|
||||
# get stopped/started at the end of the test
|
||||
if self.frame is None:
|
||||
|
|
@ -5487,7 +5493,8 @@ class AutoTest(ABC):
|
|||
m = self.assert_receive_message('AUTOPILOT_VERSION', timeout=10)
|
||||
return m.capabilities
|
||||
|
||||
def test_get_autopilot_capabilities(self):
|
||||
def GetCapabilities(self):
|
||||
'''Get Capabilities'''
|
||||
self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT)
|
||||
self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION)
|
||||
|
||||
|
|
@ -7742,7 +7749,8 @@ Also, ignores heartbeats not from our target system'''
|
|||
self.progress("GroundSpeed OK (got=%f) (want=%f)" %
|
||||
(m.groundspeed, want))
|
||||
|
||||
def fly_test_set_home(self):
|
||||
def SetHome(self):
|
||||
'''Setting and fetching of home'''
|
||||
if self.is_tracker():
|
||||
# tracker starts armed...
|
||||
self.disarm_vehicle(force=True)
|
||||
|
|
@ -7964,7 +7972,9 @@ Also, ignores heartbeats not from our target system'''
|
|||
for count in range(2, compass_count + 1):
|
||||
self.verify_parameter_values({"COMPASS_ORIENT%d" % count: 0})
|
||||
|
||||
def test_mag_calibration(self, compass_count=3, timeout=1000):
|
||||
# this autotest appears to interfere with FixedYawCalibration, no idea why.
|
||||
def SITLCompassCalibration(self, compass_count=3, timeout=1000):
|
||||
'''Test Fixed Yaw Calibration"'''
|
||||
def reset_pos_and_start_magcal(mavproxy, tmask):
|
||||
mavproxy.send("sitl_stop\n")
|
||||
mavproxy.send("sitl_attitude 0 0 0\n")
|
||||
|
|
@ -8342,7 +8352,8 @@ Also, ignores heartbeats not from our target system'''
|
|||
raise NotAchievedException("%s has wrong value; want=%f got=%f transforms=%s (old parameter name=%s)" %
|
||||
(newkey, expected_value, current_value, str(transforms), key))
|
||||
|
||||
def test_mag_reordering(self):
|
||||
def CompassReordering(self):
|
||||
'''Test Compass reordering when priorities are changed'''
|
||||
self.context_push()
|
||||
ex = None
|
||||
try:
|
||||
|
|
@ -8444,7 +8455,10 @@ Also, ignores heartbeats not from our target system'''
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def test_fixed_yaw_calibration(self):
|
||||
# something about SITLCompassCalibration appears to fail
|
||||
# this one, so we put it first:
|
||||
def FixedYawCalibration(self):
|
||||
'''Test Fixed Yaw Calibration'''
|
||||
self.context_push()
|
||||
ex = None
|
||||
try:
|
||||
|
|
@ -8537,7 +8551,8 @@ Also, ignores heartbeats not from our target system'''
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def test_dataflash_over_mavlink(self):
|
||||
def DataFlashOverMAVLink(self):
|
||||
'''Test DataFlash over MAVLink'''
|
||||
self.context_push()
|
||||
ex = None
|
||||
mavproxy = self.start_mavproxy()
|
||||
|
|
@ -8602,8 +8617,8 @@ Also, ignores heartbeats not from our target system'''
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def test_dataflash_sitl(self):
|
||||
"""Test the basic functionality of block logging"""
|
||||
def DataFlash(self):
|
||||
"""Test DataFlash SITL backend"""
|
||||
self.context_push()
|
||||
ex = None
|
||||
mavproxy = self.start_mavproxy()
|
||||
|
|
@ -8699,7 +8714,7 @@ Also, ignores heartbeats not from our target system'''
|
|||
if herrors > header_errors:
|
||||
raise NotAchievedException("Error parsing log file %s, %d header errors" % (logname, herrors))
|
||||
|
||||
def test_dataflash_erase(self):
|
||||
def DataFlashErase(self):
|
||||
"""Test that erasing the dataflash chip and creating a new log is error free"""
|
||||
mavproxy = self.start_mavproxy()
|
||||
|
||||
|
|
@ -8781,8 +8796,8 @@ Also, ignores heartbeats not from our target system'''
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def test_arm_feature(self):
|
||||
"""Common feature to test."""
|
||||
def ArmFeatures(self):
|
||||
'''Arm features'''
|
||||
# TEST ARMING/DISARM
|
||||
if self.get_parameter("ARMING_CHECK") != 1.0 and not self.is_sub():
|
||||
raise ValueError("Arming check should be 1")
|
||||
|
|
@ -9168,7 +9183,8 @@ Also, ignores heartbeats not from our target system'''
|
|||
if notachieved_ex is not None:
|
||||
raise notachieved_ex
|
||||
|
||||
def test_set_message_interval(self):
|
||||
def SET_MESSAGE_INTERVAL(self):
|
||||
'''Test MAV_CMD_SET_MESSAGE_INTERVAL'''
|
||||
self.start_subtest('Basic tests')
|
||||
self.test_set_message_interval_basic()
|
||||
self.start_subtest('Many-message tests')
|
||||
|
|
@ -9322,7 +9338,8 @@ Also, ignores heartbeats not from our target system'''
|
|||
|
||||
return msgs
|
||||
|
||||
def test_request_message(self, timeout=60):
|
||||
def REQUEST_MESSAGE(self, timeout=60):
|
||||
'''Test MAV_CMD_REQUEST_MESSAGE'''
|
||||
rate = round(self.get_message_rate("CAMERA_FEEDBACK", 10))
|
||||
if rate != 0:
|
||||
raise PreconditionFailedException("Receiving camera feedback")
|
||||
|
|
@ -9373,7 +9390,8 @@ Also, ignores heartbeats not from our target system'''
|
|||
def clear_fence(self):
|
||||
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
|
||||
|
||||
def test_config_error_loop(self):
|
||||
# Sub does not instantiate AP_Stats. Also see https://github.com/ArduPilot/ardupilot/issues/10247 # noqa
|
||||
def ConfigErrorLoop(self):
|
||||
'''test the sensor config error loop works and that parameter sets are persistent'''
|
||||
parameter_name = "SERVO8_MIN"
|
||||
old_parameter_value = self.get_parameter(parameter_name)
|
||||
|
|
@ -9415,7 +9433,8 @@ Also, ignores heartbeats not from our target system'''
|
|||
if self.get_parameter(parameter_name) != new_parameter_value:
|
||||
raise NotAchievedException("Parameter value did not stick")
|
||||
|
||||
def test_initial_mode(self):
|
||||
def InitialMode(self):
|
||||
'''Test initial mode switching'''
|
||||
if self.is_copter():
|
||||
init_mode = (9, "LAND")
|
||||
if self.is_rover():
|
||||
|
|
@ -9438,7 +9457,8 @@ Also, ignores heartbeats not from our target system'''
|
|||
self.context_pop()
|
||||
self.reboot_sitl()
|
||||
|
||||
def test_gripper(self):
|
||||
def Gripper(self):
|
||||
'''Test gripper'''
|
||||
self.context_push()
|
||||
self.set_parameters({
|
||||
"GRIP_ENABLE": 1,
|
||||
|
|
@ -9589,7 +9609,7 @@ Also, ignores heartbeats not from our target system'''
|
|||
|
||||
self.install_message_hook_context(check_terrain_requests)
|
||||
|
||||
def test_set_position_global_int(self, timeout=100):
|
||||
def SetpointGlobalPos(self, timeout=100):
|
||||
"""Test set position message in guided mode."""
|
||||
# Disable heading and yaw test on rover type
|
||||
|
||||
|
|
@ -9812,7 +9832,7 @@ Also, ignores heartbeats not from our target system'''
|
|||
self.do_RTL(distance_min=0, distance_max=wp_accuracy)
|
||||
self.disarm_vehicle()
|
||||
|
||||
def test_set_velocity_global_int(self, timeout=30):
|
||||
def SetpointGlobalVel(self, timeout=30):
|
||||
"""Test set position message in guided mode."""
|
||||
# Disable heading and yaw rate test on rover type
|
||||
if self.is_rover():
|
||||
|
|
@ -10539,7 +10559,7 @@ switch value'''
|
|||
self.start_subsubtest("Check all parameters are documented")
|
||||
self.test_parameter_documentation_get_all_parameters()
|
||||
|
||||
def test_parameters(self):
|
||||
def Parameters(self):
|
||||
'''general small tests for parameter system'''
|
||||
if self.is_balancebot():
|
||||
# same binary and parameters as Rover
|
||||
|
|
@ -10586,7 +10606,8 @@ switch value'''
|
|||
if m is not None:
|
||||
raise PreconditionFailedException("Receiving %s messags" % message)
|
||||
|
||||
def test_pid_tuning(self):
|
||||
def PIDTuning(self):
|
||||
'''Test PID Tuning'''
|
||||
self.assert_not_receiving_message('PID_TUNING', timeout=5)
|
||||
self.set_parameter("GCS_PID_MASK", 1)
|
||||
self.progress("making sure we are now getting PID_TUNING messages")
|
||||
|
|
@ -10595,7 +10616,8 @@ switch value'''
|
|||
def sample_mission_filename(self):
|
||||
return "flaps.txt"
|
||||
|
||||
def test_advanced_failsafe(self):
|
||||
def AdvancedFailsafe(self):
|
||||
'''Test Advanced Failsafe'''
|
||||
self.context_push()
|
||||
ex = None
|
||||
try:
|
||||
|
|
@ -10680,7 +10702,8 @@ switch value'''
|
|||
if m.fix_type >= fix_type:
|
||||
break
|
||||
|
||||
def nmea_output(self):
|
||||
def NMEAOutput(self):
|
||||
'''Test AHRS NMEA Output can be read by out NMEA GPS'''
|
||||
self.set_parameter("SERIAL5_PROTOCOL", 20) # serial5 is NMEA output
|
||||
self.set_parameter("GPS_TYPE2", 5) # GPS2 is NMEA
|
||||
self.customise_SITL_commandline([
|
||||
|
|
@ -10718,7 +10741,8 @@ switch value'''
|
|||
mavproxy.send("module unload %s\n" % module)
|
||||
mavproxy.expect("Unloaded module %s" % module)
|
||||
|
||||
def accelcal(self):
|
||||
def AccelCal(self):
|
||||
'''Accelerometer Calibration testing'''
|
||||
ex = None
|
||||
mavproxy = self.start_mavproxy()
|
||||
try:
|
||||
|
|
@ -10872,14 +10896,16 @@ switch value'''
|
|||
self.context_pop()
|
||||
self.reboot_sitl()
|
||||
|
||||
def ahrstrim(self):
|
||||
def AHRSTrim(self):
|
||||
'''AHRS trim testing'''
|
||||
self.start_subtest("Attitude Correctness")
|
||||
self.ahrstrim_attitude_correctness()
|
||||
self.delay_sim_time(5)
|
||||
self.start_subtest("Preflight Calibration")
|
||||
self.ahrstrim_preflight_cal()
|
||||
|
||||
def test_button(self):
|
||||
def Button(self):
|
||||
'''Test Buttons'''
|
||||
self.set_parameter("SIM_PIN_MASK", 0)
|
||||
self.set_parameter("BTN_ENABLE", 1)
|
||||
self.drain_mav()
|
||||
|
|
@ -11530,7 +11556,8 @@ switch value'''
|
|||
"Did not receive expected result in command_ack; want=%u got=%u" %
|
||||
(want_result, got_result))
|
||||
|
||||
def test_frsky_mavlite(self):
|
||||
def FRSkyMAVlite(self):
|
||||
'''Test FrSky MAVlite serial output'''
|
||||
self.set_parameter("SERIAL5_PROTOCOL", 10) # serial5 is FRSky passthrough
|
||||
self.customise_SITL_commandline([
|
||||
"--uartF=tcp:6735" # serial5 spews to localhost:6735
|
||||
|
|
@ -11802,7 +11829,8 @@ switch value'''
|
|||
if rpm.rpm1 >= min_rpm:
|
||||
return
|
||||
|
||||
def test_frsky_sport(self):
|
||||
def FRSkySPort(self):
|
||||
'''Test FrSky SPort mode'''
|
||||
self.set_parameter("SERIAL5_PROTOCOL", 4) # serial5 is FRSky sport
|
||||
self.set_parameter("RPM1_TYPE", 10) # enable SITL RPM sensor
|
||||
self.customise_SITL_commandline([
|
||||
|
|
@ -11874,7 +11902,8 @@ switch value'''
|
|||
self.zero_throttle()
|
||||
self.disarm_vehicle(force=True)
|
||||
|
||||
def test_frsky_d(self):
|
||||
def FRSkyD(self):
|
||||
'''Test FrSkyD serial output'''
|
||||
self.set_parameter("SERIAL5_PROTOCOL", 3) # serial5 is FRSky output
|
||||
self.customise_SITL_commandline([
|
||||
"--uartF=tcp:6735" # serial5 spews to localhost:6735
|
||||
|
|
@ -11995,7 +12024,8 @@ switch value'''
|
|||
# FIXME. Actually check the field values are correct :-)
|
||||
return True
|
||||
|
||||
def test_ltm(self):
|
||||
def LTM(self):
|
||||
'''Test LTM serial output'''
|
||||
self.set_parameter("SERIAL5_PROTOCOL", 25) # serial5 is LTM output
|
||||
self.customise_SITL_commandline([
|
||||
"--uartF=tcp:6735" # serial5 spews to localhost:6735
|
||||
|
|
@ -12036,6 +12066,7 @@ switch value'''
|
|||
return math.trunc(dd * 1.0e7)
|
||||
|
||||
def DEVO(self):
|
||||
'''Test DEVO serial output'''
|
||||
self.context_push()
|
||||
self.set_parameter("SERIAL5_PROTOCOL", 17) # serial5 is DEVO output
|
||||
self.customise_SITL_commandline([
|
||||
|
|
@ -12106,7 +12137,8 @@ switch value'''
|
|||
self.context_pop()
|
||||
self.reboot_sitl()
|
||||
|
||||
def test_msp_dji(self):
|
||||
def MSP_DJI(self):
|
||||
'''Test MSP DJI serial output'''
|
||||
self.set_parameter("SERIAL5_PROTOCOL", 33) # serial5 is MSP DJI output
|
||||
self.set_parameter("MSP_OPTIONS", 1) # telemetry (unpolled) mode
|
||||
self.customise_SITL_commandline([
|
||||
|
|
@ -12130,7 +12162,8 @@ switch value'''
|
|||
if dist < 1:
|
||||
break
|
||||
|
||||
def test_crsf(self):
|
||||
def CRSF(self):
|
||||
'''Test RC CRSF'''
|
||||
self.context_push()
|
||||
ex = None
|
||||
try:
|
||||
|
|
@ -12343,43 +12376,16 @@ switch value'''
|
|||
|
||||
def tests(self):
|
||||
return [
|
||||
Test("PIDTuning",
|
||||
"Test PID Tuning",
|
||||
self.test_pid_tuning),
|
||||
|
||||
Test("ArmFeatures", "Arm features", self.test_arm_feature),
|
||||
|
||||
Test("SetHome",
|
||||
"Test Set Home",
|
||||
self.fly_test_set_home),
|
||||
|
||||
Test("ConfigErrorLoop",
|
||||
"Test Config Error Loop",
|
||||
self.test_config_error_loop),
|
||||
|
||||
Test("CPUFailsafe",
|
||||
"Ensure we do something appropriate when the main loop stops",
|
||||
self.CPUFailsafe),
|
||||
|
||||
Test("Parameters",
|
||||
"Test Parameter Set/Get",
|
||||
self.test_parameters),
|
||||
|
||||
Test("LoggerDocumentation",
|
||||
"Test Onboard Logging Generation",
|
||||
self.test_onboard_logging_generation),
|
||||
|
||||
Test("Logging",
|
||||
"Test Onboard Logging",
|
||||
self.test_onboard_logging),
|
||||
|
||||
Test("GetCapabilities",
|
||||
"Get Capabilities",
|
||||
self.test_get_autopilot_capabilities),
|
||||
|
||||
Test("InitialMode",
|
||||
"Test initial mode switching",
|
||||
self.test_initial_mode),
|
||||
self.PIDTuning,
|
||||
self.ArmFeatures,
|
||||
self.SetHome,
|
||||
self.ConfigErrorLoop,
|
||||
self.CPUFailsafe,
|
||||
self.Parameters,
|
||||
self.LoggerDocumentation,
|
||||
self.Logging,
|
||||
self.GetCapabilities,
|
||||
self.InitialMode,
|
||||
]
|
||||
|
||||
def post_tests_announcements(self):
|
||||
|
|
@ -12404,8 +12410,7 @@ switch value'''
|
|||
if type(test) == Test:
|
||||
all_tests.append(test)
|
||||
continue
|
||||
(name, desc, func) = test
|
||||
actual_test = Test(name, desc, func)
|
||||
actual_test = Test(test)
|
||||
all_tests.append(actual_test)
|
||||
|
||||
disabled = self.disabled_tests()
|
||||
|
|
|
|||
|
|
@ -57,7 +57,8 @@ class AutoTestHelicopter(AutoTestCopter):
|
|||
chan_pwm = (servo.servo1_raw + servo.servo2_raw + servo.servo3_raw)/3.0
|
||||
return chan_pwm
|
||||
|
||||
def rotor_runup_complete_checks(self):
|
||||
def RotorRunup(self):
|
||||
'''Test rotor runip'''
|
||||
# Takeoff and landing in Loiter
|
||||
TARGET_RUNUP_TIME = 10
|
||||
self.zero_throttle()
|
||||
|
|
@ -91,8 +92,8 @@ class AutoTestHelicopter(AutoTestCopter):
|
|||
self.mav.wait_heartbeat()
|
||||
|
||||
# fly_avc_test - fly AVC mission
|
||||
def fly_avc_test(self):
|
||||
# Arm
|
||||
def AVCMission(self):
|
||||
'''fly AVC mission'''
|
||||
self.change_mode('STABILIZE')
|
||||
self.wait_ready_to_arm()
|
||||
|
||||
|
|
@ -159,7 +160,8 @@ class AutoTestHelicopter(AutoTestCopter):
|
|||
self.hover()
|
||||
self.progress("TAKEOFF COMPLETE")
|
||||
|
||||
def fly_each_frame(self):
|
||||
def FlyEachFrame(self):
|
||||
'''Fly each supported internal frame'''
|
||||
vinfo = vehicleinfo.VehicleInfo()
|
||||
vinfo_options = vinfo.options[self.vehicleinfo_key()]
|
||||
known_broken_frames = {
|
||||
|
|
@ -196,7 +198,7 @@ class AutoTestHelicopter(AutoTestCopter):
|
|||
self.progress("Setting hover collective")
|
||||
self.set_rc(3, 1500)
|
||||
|
||||
def fly_heli_poshold_takeoff(self):
|
||||
def PosHoldTakeOff(self):
|
||||
"""ensure vehicle stays put until it is ready to fly"""
|
||||
self.context_push()
|
||||
|
||||
|
|
@ -258,8 +260,8 @@ class AutoTestHelicopter(AutoTestCopter):
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def fly_heli_stabilize_takeoff(self):
|
||||
""""""
|
||||
def StabilizeTakeOff(self):
|
||||
"""Fly stabilize takeoff"""
|
||||
self.context_push()
|
||||
|
||||
ex = None
|
||||
|
|
@ -296,7 +298,7 @@ class AutoTestHelicopter(AutoTestCopter):
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def fly_spline_waypoint(self, timeout=600):
|
||||
def SplineWaypoint(self, timeout=600):
|
||||
"""ensure basic spline functionality works"""
|
||||
self.load_mission("copter_spline_mission.txt", strict=False)
|
||||
self.change_mode("LOITER")
|
||||
|
|
@ -317,8 +319,8 @@ class AutoTestHelicopter(AutoTestCopter):
|
|||
self.progress("Lowering rotor speed")
|
||||
self.set_rc(8, 1000)
|
||||
|
||||
def fly_autorotation(self, timeout=600):
|
||||
"""ensure basic spline functionality works"""
|
||||
def AutoRotation(self, timeout=600):
|
||||
"""Check engine-out behaviour"""
|
||||
self.set_parameter("AROT_ENABLE", 1)
|
||||
start_alt = 100 # metres
|
||||
self.set_parameter("PILOT_TKOFF_ALT", start_alt * 100)
|
||||
|
|
@ -368,7 +370,8 @@ class AutoTestHelicopter(AutoTestCopter):
|
|||
self.set_rc(8, 1000) # Lower rotor speed
|
||||
|
||||
# FIXME move this & plane's version to common
|
||||
def test_airspeed_drivers(self, timeout=600):
|
||||
def AirspeedDrivers(self, timeout=600):
|
||||
'''Test AirSpeed drivers'''
|
||||
|
||||
# set the start location to CMAC to use same test script as other vehicles
|
||||
self.sitl_start_loc = mavutil.location(-35.362881, 149.165222, 582.000000, 90.0) # CMAC
|
||||
|
|
@ -428,39 +431,15 @@ class AutoTestHelicopter(AutoTestCopter):
|
|||
'''return list of all tests'''
|
||||
ret = AutoTest.tests(self)
|
||||
ret.extend([
|
||||
("AVCMission", "Fly AVC mission", self.fly_avc_test),
|
||||
|
||||
("RotorRunUp",
|
||||
"Test rotor runup",
|
||||
self.rotor_runup_complete_checks),
|
||||
|
||||
("PosHoldTakeOff",
|
||||
"Fly POSHOLD takeoff",
|
||||
self.fly_heli_poshold_takeoff),
|
||||
|
||||
("StabilizeTakeOff",
|
||||
"Fly stabilize takeoff",
|
||||
self.fly_heli_stabilize_takeoff),
|
||||
|
||||
("SplineWaypoint",
|
||||
"Fly Spline Waypoints",
|
||||
self.fly_spline_waypoint),
|
||||
|
||||
("AutoRotation",
|
||||
"Fly AutoRotation",
|
||||
self.fly_autorotation),
|
||||
|
||||
("FlyEachFrame",
|
||||
"Fly each supported internal frame",
|
||||
self.fly_each_frame),
|
||||
|
||||
("LogUpload",
|
||||
"Log upload",
|
||||
self.log_upload),
|
||||
|
||||
("AirspeedDrivers",
|
||||
"Test AirSpeed drivers",
|
||||
self.test_airspeed_drivers),
|
||||
self.AVCMission,
|
||||
self.RotorRunup,
|
||||
self.PosHoldTakeOff,
|
||||
self.StabilizeTakeOff,
|
||||
self.SplineWaypoint,
|
||||
self.AutoRotation,
|
||||
self.FlyEachFrame,
|
||||
self.LogUpload,
|
||||
self.AirspeedDrivers,
|
||||
])
|
||||
return ret
|
||||
|
||||
|
|
|
|||
|
|
@ -88,7 +88,7 @@ class AutoTestQuadPlane(AutoTest):
|
|||
def set_autodisarm_delay(self, delay):
|
||||
self.set_parameter("LAND_DISARMDELAY", delay)
|
||||
|
||||
def test_airmode(self):
|
||||
def AirMode(self):
|
||||
"""Check that plane.air_mode turns on and off as required"""
|
||||
self.progress("########## Testing AirMode operation")
|
||||
self.set_parameter("AHRS_EKF_TYPE", 10)
|
||||
|
|
@ -255,7 +255,7 @@ class AutoTestQuadPlane(AutoTest):
|
|||
self.disarm_vehicle(force=True)
|
||||
self.wait_ready_to_arm()
|
||||
|
||||
def test_motor_mask(self):
|
||||
def TestMotorMask(self):
|
||||
"""Check operation of output_motor_mask"""
|
||||
"""copter tailsitters will add condition: or (int(self.get_parameter('Q_TAILSIT_MOTMX')) & 1)"""
|
||||
if not(int(self.get_parameter('Q_TILT_MASK')) & 1):
|
||||
|
|
@ -406,6 +406,7 @@ class AutoTestQuadPlane(AutoTest):
|
|||
self.mav.motors_disarmed_wait()
|
||||
|
||||
def EXTENDED_SYS_STATE(self):
|
||||
'''Check extended sys state works'''
|
||||
self.EXTENDED_SYS_STATE_SLT()
|
||||
|
||||
def fly_qautotune(self):
|
||||
|
|
@ -566,7 +567,7 @@ class AutoTestQuadPlane(AutoTest):
|
|||
|
||||
return freq
|
||||
|
||||
def fly_gyro_fft(self):
|
||||
def GyroFFT(self):
|
||||
"""Use dynamic harmonic notch to control motor noise."""
|
||||
# basic gyro sample rate test
|
||||
self.progress("Flying with gyro FFT - Gyro sample rate")
|
||||
|
|
@ -677,11 +678,13 @@ class AutoTestQuadPlane(AutoTest):
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def test_pid_tuning(self):
|
||||
def PIDTuning(self):
|
||||
'''Test PID Tuning'''
|
||||
self.change_mode("FBWA") # we don't update PIDs in MANUAL
|
||||
super(AutoTestQuadPlane, self).test_pid_tuning()
|
||||
super(AutoTestQuadPlane, self).PIDTuning()
|
||||
|
||||
def test_parameter_checks(self):
|
||||
def ParameterChecks(self):
|
||||
'''basic parameter checks'''
|
||||
self.test_parameter_checks_poscontrol("Q_P")
|
||||
|
||||
def rc_defaults(self):
|
||||
|
|
@ -701,6 +704,7 @@ class AutoTestQuadPlane(AutoTest):
|
|||
}
|
||||
|
||||
def BootInAUTO(self):
|
||||
'''Test behaviour when booting in auto'''
|
||||
self.load_mission("mission.txt")
|
||||
self.set_parameters({
|
||||
})
|
||||
|
|
@ -722,7 +726,8 @@ class AutoTestQuadPlane(AutoTest):
|
|||
self.change_mode('QLAND')
|
||||
self.wait_disarmed(timeout=60)
|
||||
|
||||
def test_pilot_yaw(self):
|
||||
def PilotYaw(self):
|
||||
'''Test pilot yaw in various modes'''
|
||||
self.takeoff(10, mode="QLOITER")
|
||||
self.set_parameter("STICK_MIXING", 0)
|
||||
self.set_rc(4, 1700)
|
||||
|
|
@ -734,7 +739,8 @@ class AutoTestQuadPlane(AutoTest):
|
|||
self.set_rc(4, 1500)
|
||||
self.do_RTL()
|
||||
|
||||
def weathervane_test(self):
|
||||
def Weathervane(self):
|
||||
'''test nose-into-wind functionality'''
|
||||
# We test nose into wind code paths and yaw direction in copter autotest,
|
||||
# so we shall test the side into wind yaw direction and plane code paths here.
|
||||
self.set_parameters({"SIM_WIND_SPD": 10,
|
||||
|
|
@ -759,7 +765,8 @@ class AutoTestQuadPlane(AutoTest):
|
|||
'''In lockup Plane should copy RC inputs to RC outputs'''
|
||||
self.plane_CPUFailsafe()
|
||||
|
||||
def test_qassist(self):
|
||||
def QAssist(self):
|
||||
'''QuadPlane Assist tests'''
|
||||
# find a motor peak
|
||||
self.takeoff(10, mode="QHOVER")
|
||||
self.set_rc(3, 1800)
|
||||
|
|
@ -812,7 +819,7 @@ class AutoTestQuadPlane(AutoTest):
|
|||
self.change_mode("RTL")
|
||||
self.wait_disarmed(timeout=300)
|
||||
|
||||
def tailsitter(self):
|
||||
def Tailsitter(self):
|
||||
'''tailsitter test'''
|
||||
self.set_parameter('Q_FRAME_CLASS', 10)
|
||||
self.set_parameter('Q_ENABLE', 1)
|
||||
|
|
@ -835,6 +842,7 @@ class AutoTestQuadPlane(AutoTest):
|
|||
self.disarm_vehicle()
|
||||
|
||||
def ICEngine(self):
|
||||
'''Test ICE Engine support'''
|
||||
rc_engine_start_chan = 11
|
||||
self.set_parameters({
|
||||
'SERVO13_FUNCTION': 67, # ignition
|
||||
|
|
@ -870,6 +878,7 @@ class AutoTestQuadPlane(AutoTest):
|
|||
self.reboot_sitl()
|
||||
|
||||
def ICEngineMission(self):
|
||||
'''Test ICE Engine Mission support'''
|
||||
rc_engine_start_chan = 11
|
||||
self.set_parameters({
|
||||
'SERVO13_FUNCTION': 67, # ignition
|
||||
|
|
@ -887,6 +896,7 @@ class AutoTestQuadPlane(AutoTest):
|
|||
self.wait_disarmed(timeout=300)
|
||||
|
||||
def Ship(self):
|
||||
'''Ensure we can take off from simulated ship'''
|
||||
self.context_push()
|
||||
self.set_parameters({
|
||||
'SIM_SHIP_ENABLE': 1,
|
||||
|
|
@ -906,6 +916,7 @@ class AutoTestQuadPlane(AutoTest):
|
|||
self.reboot_sitl()
|
||||
|
||||
def MidAirDisarmDisallowed(self):
|
||||
'''Check disarm behaviour in Q-mode'''
|
||||
self.start_subtest("Basic arm in qloiter")
|
||||
self.set_parameter("FLIGHT_OPTIONS", 0)
|
||||
self.change_mode('QLOITER')
|
||||
|
|
@ -956,76 +967,35 @@ class AutoTestQuadPlane(AutoTest):
|
|||
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_EXTENDED_SYS_STATE, -1)
|
||||
self.disarm_vehicle()
|
||||
|
||||
def Mission(self):
|
||||
'''fly the OBC 2016 mission in Dalby'''
|
||||
self.fly_mission(
|
||||
"Dalby-OBC2016.txt",
|
||||
"Dalby-OBC2016-fence.txt",
|
||||
include_terrain_timeout=True
|
||||
)
|
||||
|
||||
def tests(self):
|
||||
'''return list of all tests'''
|
||||
|
||||
ret = super(AutoTestQuadPlane, self).tests()
|
||||
ret.extend([
|
||||
("TestAirMode", "Test airmode", self.test_airmode),
|
||||
|
||||
("TestMotorMask", "Test output_motor_mask", self.test_motor_mask),
|
||||
|
||||
("PilotYaw",
|
||||
"Test pilot yaw in various modes",
|
||||
self.test_pilot_yaw),
|
||||
|
||||
("ParameterChecks",
|
||||
"Test Arming Parameter Checks",
|
||||
self.test_parameter_checks),
|
||||
|
||||
("TestLogDownload",
|
||||
"Test Onboard Log Download",
|
||||
self.test_log_download),
|
||||
|
||||
("EXTENDED_SYS_STATE",
|
||||
"Check extended sys state works",
|
||||
self.EXTENDED_SYS_STATE),
|
||||
|
||||
("Mission", "Dalby Mission",
|
||||
lambda: self.fly_mission(
|
||||
"Dalby-OBC2016.txt",
|
||||
"Dalby-OBC2016-fence.txt",
|
||||
include_terrain_timeout=True
|
||||
)
|
||||
),
|
||||
|
||||
("Weathervane",
|
||||
"Test Weathervane Functionality",
|
||||
self.weathervane_test),
|
||||
|
||||
("QAssist",
|
||||
"QuadPlane Assist tests",
|
||||
self.test_qassist),
|
||||
|
||||
("GyroFFT", "Fly Gyro FFT",
|
||||
self.fly_gyro_fft),
|
||||
|
||||
("Tailsitter",
|
||||
"Test tailsitter support",
|
||||
self.tailsitter),
|
||||
|
||||
("ICEngine",
|
||||
"Test ICE Engine support",
|
||||
self.ICEngine),
|
||||
|
||||
("ICEngineMission",
|
||||
"Test ICE Engine Mission support",
|
||||
self.ICEngineMission),
|
||||
|
||||
("MidAirDisarmDisallowed",
|
||||
"Check disarm behaviour in Q-mode",
|
||||
self.MidAirDisarmDisallowed),
|
||||
|
||||
("BootInAUTO",
|
||||
"Test behaviour when booting in auto",
|
||||
self.BootInAUTO),
|
||||
|
||||
("Ship",
|
||||
"Ensure we can take off from simulated ship",
|
||||
self.Ship),
|
||||
|
||||
("LogUpload",
|
||||
"Log upload",
|
||||
self.log_upload),
|
||||
self.AirMode,
|
||||
self.TestMotorMask,
|
||||
self.PilotYaw,
|
||||
self.ParameterChecks,
|
||||
self.LogDownload,
|
||||
self.EXTENDED_SYS_STATE,
|
||||
self.Mission,
|
||||
self.Weathervane,
|
||||
self.QAssist,
|
||||
self.GyroFFT,
|
||||
self.Tailsitter,
|
||||
self.ICEngine,
|
||||
self.ICEngineMission,
|
||||
self.MidAirDisarmDisallowed,
|
||||
self.BootInAUTO,
|
||||
self.Ship,
|
||||
self.LogUpload,
|
||||
])
|
||||
return ret
|
||||
|
|
|
|||
|
|
@ -83,8 +83,8 @@ class AutoTestRover(AutoTest):
|
|||
# TESTS DRIVE
|
||||
##########################################################
|
||||
# Drive a square in manual mode
|
||||
def drive_square(self, side=50):
|
||||
"""Drive a square, Driving N then E ."""
|
||||
def DriveSquare(self, side=50):
|
||||
"""Learn/Drive Square with Ch7 option"""
|
||||
|
||||
self.context_push()
|
||||
ex = None
|
||||
|
|
@ -235,7 +235,7 @@ class AutoTestRover(AutoTest):
|
|||
# "timed out after %u seconds" % timeout)
|
||||
# return False
|
||||
|
||||
def test_sprayer(self):
|
||||
def Sprayer(self):
|
||||
"""Test sprayer functionality."""
|
||||
self.context_push()
|
||||
ex = None
|
||||
|
|
@ -354,8 +354,8 @@ class AutoTestRover(AutoTest):
|
|||
if ex:
|
||||
raise ex
|
||||
|
||||
def drive_max_rcin(self, timeout=30):
|
||||
"""Test max RC inputs"""
|
||||
def DriveMaxRCIN(self, timeout=30):
|
||||
"""Drive rover at max RC inputs"""
|
||||
self.context_push()
|
||||
ex = None
|
||||
|
||||
|
|
@ -404,7 +404,12 @@ class AutoTestRover(AutoTest):
|
|||
self.disarm_vehicle()
|
||||
self.progress("Mission OK")
|
||||
|
||||
def test_gripper_mission(self):
|
||||
def DriveMission(self):
|
||||
'''Drive Mission rover1.txt'''
|
||||
self.drive_mission("rover1.txt", strict=False)
|
||||
|
||||
def GripperMission(self):
|
||||
'''Test Gripper Mission Items'''
|
||||
self.load_mission("rover-gripper-mission.txt")
|
||||
self.change_mode('AUTO')
|
||||
self.wait_ready_to_arm()
|
||||
|
|
@ -415,7 +420,8 @@ class AutoTestRover(AutoTest):
|
|||
self.wait_statustext("Mission Complete", timeout=60, check_context=True)
|
||||
self.disarm_vehicle()
|
||||
|
||||
def do_get_banner(self):
|
||||
def GetBanner(self):
|
||||
'''Get Banner'''
|
||||
target_sysid = self.sysid_thismav()
|
||||
target_compid = 1
|
||||
self.mav.mav.command_long_send(
|
||||
|
|
@ -480,7 +486,8 @@ class AutoTestRover(AutoTest):
|
|||
|
||||
return delta
|
||||
|
||||
def drive_brake(self):
|
||||
def DriveBrake(self):
|
||||
'''Test braking'''
|
||||
self.set_parameters({
|
||||
'CRUISE_SPEED': 15,
|
||||
'ATC_BRAKE': 0,
|
||||
|
|
@ -514,7 +521,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
'''maximum distance allowed from home at end'''
|
||||
return 6.5
|
||||
|
||||
def drive_rtl_mission(self, timeout=120):
|
||||
def DriveRTL(self, timeout=120):
|
||||
'''Drive an RTL Mission'''
|
||||
self.wait_ready_to_arm()
|
||||
self.arm_vehicle()
|
||||
|
||||
|
|
@ -564,7 +572,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
self.disarm_vehicle()
|
||||
self.progress("RTL Mission OK (%fm)" % home_distance)
|
||||
|
||||
def drive_fence_ac_avoidance(self):
|
||||
def AC_Avoidance(self):
|
||||
'''Test AC Avoidance switch'''
|
||||
self.context_push()
|
||||
ex = None
|
||||
try:
|
||||
|
|
@ -602,7 +611,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
if ex:
|
||||
raise ex
|
||||
|
||||
def test_servorelayevents(self):
|
||||
def ServoRelayEvents(self):
|
||||
'''Test ServoRelayEvents'''
|
||||
self.do_set_relay(0, 0)
|
||||
off = self.get_parameter("SIM_PIN_MASK")
|
||||
self.do_set_relay(0, 1)
|
||||
|
|
@ -612,7 +622,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
"Pin mask unchanged after relay cmd")
|
||||
self.progress("Pin mask changed after relay command")
|
||||
|
||||
def test_setting_modes_via_mavproxy_switch(self):
|
||||
def MAVProxy_SetModeUsingSwitch(self):
|
||||
"""Set modes via mavproxy switch"""
|
||||
self.customise_SITL_commandline([
|
||||
"--rc-in-port", "5502",
|
||||
])
|
||||
|
|
@ -643,7 +654,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def test_setting_modes_via_mavproxy_mode_command(self):
|
||||
def MAVProxy_SetModeUsingMode(self):
|
||||
'''Set modes via mavproxy mode command'''
|
||||
fnoo = [(1, 'ACRO'),
|
||||
(3, 'STEERING'),
|
||||
(4, 'HOLD'),
|
||||
|
|
@ -660,8 +672,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
self.wait_mode(expected)
|
||||
self.stop_mavproxy(mavproxy)
|
||||
|
||||
def test_setting_modes_via_modeswitch(self):
|
||||
# test setting of modes through mode switch
|
||||
def ModeSwitch(self):
|
||||
''''Set modes via modeswitch'''
|
||||
self.context_push()
|
||||
ex = None
|
||||
try:
|
||||
|
|
@ -688,7 +700,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def test_setting_modes_via_auxswitches(self):
|
||||
def AuxModeSwitch(self):
|
||||
'''Set modes via auxswitches'''
|
||||
self.context_push()
|
||||
ex = None
|
||||
try:
|
||||
|
|
@ -731,7 +744,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def test_rc_override_cancel(self):
|
||||
def RCOverridesCancel(self):
|
||||
'''Test RC overrides Cancel'''
|
||||
self.set_parameter("SYSID_MYGCS", self.mav.source_system)
|
||||
self.change_mode('MANUAL')
|
||||
self.wait_ready_to_arm()
|
||||
|
|
@ -801,7 +815,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
break
|
||||
self.disarm_vehicle()
|
||||
|
||||
def test_rc_overrides(self):
|
||||
def RCOverrides(self):
|
||||
'''Test RC overrides'''
|
||||
self.context_push()
|
||||
self.set_parameter("SYSID_MYGCS", self.mav.source_system)
|
||||
ex = None
|
||||
|
|
@ -1044,7 +1059,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def test_manual_control(self):
|
||||
def MANUAL_CONTROL(self):
|
||||
'''Test mavlink MANUAL_CONTROL'''
|
||||
self.context_push()
|
||||
self.set_parameter("SYSID_MYGCS", self.mav.source_system)
|
||||
ex = None
|
||||
|
|
@ -1134,6 +1150,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
raise ex
|
||||
|
||||
def CameraMission(self):
|
||||
'''Test Camera Mission Items'''
|
||||
self.load_mission("rover-camera-mission.txt")
|
||||
self.wait_ready_to_arm()
|
||||
self.change_mode("AUTO")
|
||||
|
|
@ -1170,17 +1187,20 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
|
||||
self.disarm_vehicle()
|
||||
|
||||
def test_do_set_mode_via_command_long(self):
|
||||
def DO_SET_MODE(self):
|
||||
'''Set mode via MAV_COMMAND_DO_SET_MODE'''
|
||||
self.do_set_mode_via_command_long("HOLD")
|
||||
self.do_set_mode_via_command_long("MANUAL")
|
||||
|
||||
def test_mavproxy_do_set_mode_via_command_long(self):
|
||||
def MAVProxy_DO_SET_MODE(self):
|
||||
'''Set mode using MAVProxy commandline DO_SET_MODE'''
|
||||
mavproxy = self.start_mavproxy()
|
||||
self.mavproxy_do_set_mode_via_command_long(mavproxy, "HOLD")
|
||||
self.mavproxy_do_set_mode_via_command_long(mavproxy, "MANUAL")
|
||||
self.stop_mavproxy(mavproxy)
|
||||
|
||||
def test_sysid_enforce(self):
|
||||
def SYSID_ENFORCE(self):
|
||||
'''Test enforcement of SYSID_MYGCS'''
|
||||
'''Run the same arming code with correct then incorrect SYSID'''
|
||||
|
||||
if self.mav.source_system != self.mav.mav.srcSystem:
|
||||
|
|
@ -1240,6 +1260,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
raise ex
|
||||
|
||||
def Rally(self):
|
||||
'''Test Rally Points'''
|
||||
self.load_rally("rover-test-rally.txt")
|
||||
|
||||
self.wait_ready_to_arm()
|
||||
|
|
@ -1984,7 +2005,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
|
||||
# MANUAL> usage: fence <addcircle|addpoly|changealt|clear|disable|draw|enable|list|load|move|movemulti|movepolypoint|param|remove|save|savecsv|savelocal|show|status|undo|update> # noqa
|
||||
|
||||
def test_gcs_fence(self):
|
||||
def GCSFence(self):
|
||||
'''Upload and download of fence'''
|
||||
target_system = 1
|
||||
target_component = 1
|
||||
|
||||
|
|
@ -2154,8 +2176,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
# exclusion zones)
|
||||
# FIXME: add test that a fence with edges that cross can't be uploaded
|
||||
# FIXME: add a test that fences enclose an area (e.g. all the points aren't the same value!
|
||||
|
||||
def test_offboard(self, timeout=90):
|
||||
def Offboard(self, timeout=90):
|
||||
'''Test Offboard Control'''
|
||||
self.load_mission("rover-guided-mission.txt")
|
||||
self.wait_ready_to_arm(require_absolute=True)
|
||||
self.arm_vehicle()
|
||||
|
|
@ -2408,8 +2430,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
|
||||
)
|
||||
|
||||
def test_gcs_rally(self, target_system=1, target_component=1):
|
||||
|
||||
def GCSRally(self, target_system=1, target_component=1):
|
||||
'''Upload and download of rally using MAVProxy'''
|
||||
self.start_subtest("Testing mavproxy CLI for rally points")
|
||||
if not self.mavproxy_can_do_mision_item_protocols():
|
||||
return
|
||||
|
|
@ -2842,8 +2864,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
|
||||
# MANUAL> usage: rally <add|alt|changealt|clear|list|load|move|movemulti|param|remove|save|savecsv|savelocal|show|status|undo|update> # noqa
|
||||
|
||||
def test_rally(self, target_system=1, target_component=1):
|
||||
|
||||
def RallyUploadDownload(self, target_system=1, target_component=1):
|
||||
'''Upload and download of rally'''
|
||||
old_srcSystem = self.mav.mav.srcSystem
|
||||
|
||||
self.drain_mav()
|
||||
|
|
@ -3428,7 +3450,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
raise e
|
||||
self.reboot_sitl()
|
||||
|
||||
def test_gcs_mission(self):
|
||||
def GCSMission(self):
|
||||
'''check MAVProxy's waypoint handling of missions'''
|
||||
target_system = 1
|
||||
target_component = 1
|
||||
|
|
@ -4341,7 +4363,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
raise NotAchievedException("Items did not survive reboot (want=%u got=%u)" %
|
||||
(8, downloaded_len))
|
||||
|
||||
def test_poly_fence(self):
|
||||
def PolyFence(self):
|
||||
'''test fence-related functions'''
|
||||
target_system = 1
|
||||
target_component = 1
|
||||
|
|
@ -4531,7 +4553,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
target_system=target_system,
|
||||
target_component=target_component)
|
||||
|
||||
def drive_smartrtl(self):
|
||||
def SmartRTL(self):
|
||||
'''Test SmartRTL'''
|
||||
self.change_mode("STEERING")
|
||||
self.wait_ready_to_arm()
|
||||
self.arm_vehicle()
|
||||
|
|
@ -4562,8 +4585,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
|
||||
self.disarm_vehicle()
|
||||
|
||||
def test_motor_test(self):
|
||||
'''AKA run-rover-run'''
|
||||
def MotorTest(self):
|
||||
'''Motor Test triggered via mavlink'''
|
||||
magic_throttle_value = 1812
|
||||
self.wait_ready_to_arm()
|
||||
self.run_cmd(
|
||||
|
|
@ -4677,7 +4700,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def test_wheelencoders(self):
|
||||
def WheelEncoders(self):
|
||||
'''make sure wheel encoders are generally working'''
|
||||
ex = None
|
||||
try:
|
||||
|
|
@ -4810,7 +4833,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
self.change_mode("RTL")
|
||||
self.wait_distance_to_home(distance_min, distance_max, timeout=timeout)
|
||||
|
||||
def test_poly_fence_avoidance(self, target_system=1, target_component=1):
|
||||
def PolyFenceAvoidance(self, target_system=1, target_component=1):
|
||||
'''PolyFence avoidance tests'''
|
||||
self.change_mode("LOITER")
|
||||
self.wait_ready_to_arm()
|
||||
self.arm_vehicle()
|
||||
|
|
@ -4861,7 +4885,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def test_poly_fence_object_avoidance_bendy_ruler_easier(self, target_system=1, target_component=1):
|
||||
def PolyFenceObjectAvoidanceBendyRulerEasier(self, target_system=1, target_component=1):
|
||||
'''PolyFence object avoidance tests - easier bendy ruler test'''
|
||||
if not self.mavproxy_can_do_mision_item_protocols():
|
||||
return
|
||||
self.test_poly_fence_object_avoidance_auto_bendy_ruler_easier(
|
||||
|
|
@ -4955,7 +4980,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def test_poly_fence_object_avoidance(self, target_system=1, target_component=1):
|
||||
def PolyFenceObjectAvoidance(self, target_system=1, target_component=1):
|
||||
'''PolyFence object avoidance tests'''
|
||||
if not self.mavproxy_can_do_mision_item_protocols():
|
||||
return
|
||||
|
||||
|
|
@ -4966,7 +4992,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
target_system=target_system,
|
||||
target_component=target_component)
|
||||
|
||||
def test_poly_fence_object_avoidance_bendy_ruler(self, target_system=1, target_component=1):
|
||||
def PolyFenceObjectAvoidanceBendyRuler(self, target_system=1, target_component=1):
|
||||
'''PolyFence object avoidance tests - bendy ruler'''
|
||||
if not self.mavproxy_can_do_mision_item_protocols():
|
||||
return
|
||||
# bendy Ruler isn't as flexible as Dijkstra for planning, so
|
||||
|
|
@ -5086,7 +5113,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def test_scripting_steering_and_throttle(self):
|
||||
def ScriptingSteeringAndThrottle(self):
|
||||
'''Scripting test - steering and throttle'''
|
||||
self.start_subtest("Scripting square")
|
||||
ex = None
|
||||
example_script = "rover-set-steering-and-throttle.lua"
|
||||
|
|
@ -5197,7 +5225,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def test_scripting(self):
|
||||
def Scripting(self):
|
||||
'''Scripting test'''
|
||||
self.test_scripting_set_home_to_vehicle_location()
|
||||
self.test_scripting_print_home_and_origin()
|
||||
self.test_scripting_hello_world()
|
||||
|
|
@ -5247,7 +5276,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
|
||||
self.check_mission_upload_download(items)
|
||||
|
||||
def test_mission_frames(self, target_system=1, target_component=1):
|
||||
def MissionFrames(self, target_system=1, target_component=1):
|
||||
'''Upload/Download of items in different frames'''
|
||||
for frame in (mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT_INT,
|
||||
mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT,
|
||||
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
|
||||
|
|
@ -5330,7 +5360,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
self.progress("Have now seen all expected messages")
|
||||
break
|
||||
|
||||
def ap_proximity_mav(self):
|
||||
def AP_Proximity_MAV(self):
|
||||
'''Test MAV proximity backend'''
|
||||
self.context_push()
|
||||
ex = None
|
||||
try:
|
||||
|
|
@ -5391,7 +5422,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def test_send_to_components(self):
|
||||
def SendToComponents(self):
|
||||
'''Test ArduPilot send_to_components function'''
|
||||
self.progress("Introducing ourselves to the autopilot as a component")
|
||||
old_srcSystem = self.mav.mav.srcSystem
|
||||
self.mav.mav.srcSystem = 1
|
||||
|
|
@ -5432,7 +5464,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
raise NotAchievedException("Did not get correct command_id")
|
||||
break
|
||||
|
||||
def test_skid_steer(self):
|
||||
def SkidSteer(self):
|
||||
'''Check skid-steering'''
|
||||
model = "rover-skid"
|
||||
|
||||
self.customise_SITL_commandline([],
|
||||
|
|
@ -5461,7 +5494,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
self.zero_throttle()
|
||||
self.disarm_vehicle()
|
||||
|
||||
def test_slew_rate(self):
|
||||
def SlewRate(self):
|
||||
"""Test Motor Slew Rate feature."""
|
||||
self.context_push()
|
||||
self.change_mode("MANUAL")
|
||||
|
|
@ -5538,6 +5571,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
self.context_pop()
|
||||
|
||||
def SET_ATTITUDE_TARGET(self, target_sysid=None, target_compid=1):
|
||||
'''Test handling of SET_ATTITUDE_TARGET'''
|
||||
if target_sysid is None:
|
||||
target_sysid = self.sysid_thismav()
|
||||
self.change_mode('GUIDED')
|
||||
|
|
@ -5571,6 +5605,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
self.disarm_vehicle()
|
||||
|
||||
def SET_POSITION_TARGET_LOCAL_NED(self, target_sysid=None, target_compid=1):
|
||||
'''Test handling of SET_POSITION_TARGET_LOCAL_NED'''
|
||||
if target_sysid is None:
|
||||
target_sysid = self.sysid_thismav()
|
||||
self.change_mode('GUIDED')
|
||||
|
|
@ -5618,7 +5653,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
self.do_RTL()
|
||||
self.disarm_vehicle()
|
||||
|
||||
def test_end_mission_behavior(self, timeout=60):
|
||||
def EndMissionBehavior(self, timeout=60):
|
||||
'''Test end mission behavior'''
|
||||
self.context_push()
|
||||
ex = None
|
||||
try:
|
||||
|
|
@ -5691,7 +5727,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
if ex is not None:
|
||||
raise ex
|
||||
|
||||
def test_mavproxy_param(self):
|
||||
def MAVProxyParam(self):
|
||||
'''Test MAVProxy parameter handling'''
|
||||
mavproxy = self.start_mavproxy()
|
||||
mavproxy.send("param fetch\n")
|
||||
mavproxy.expect("Received [0-9]+ parameters")
|
||||
|
|
@ -5750,6 +5787,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
])
|
||||
|
||||
def MAV_CMD_DO_SET_MISSION_CURRENT(self, target_sysid=None, target_compid=1):
|
||||
'''Test handling of CMD_DO_SET_MISSION_CURRENT'''
|
||||
if target_sysid is None:
|
||||
target_sysid = self.sysid_thismav()
|
||||
self.check_mission_upload_download(self.MAV_CMD_DO_SET_MISSION_CURRENT_mission())
|
||||
|
|
@ -5772,6 +5810,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
want_result=mavutil.mavlink.MAV_RESULT_FAILED)
|
||||
|
||||
def FlashStorage(self):
|
||||
'''Test flash storage (for parameters etc)'''
|
||||
self.set_parameter("LOG_BITMASK", 1)
|
||||
self.reboot_sitl()
|
||||
|
||||
|
|
@ -5793,6 +5832,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
self.assert_parameter_value("LOG_BITMASK", 1)
|
||||
|
||||
def FRAMStorage(self):
|
||||
'''Test FRAM storage (for parameters etc)'''
|
||||
self.set_parameter("LOG_BITMASK", 1)
|
||||
self.reboot_sitl()
|
||||
|
||||
|
|
@ -5815,6 +5855,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
self.assert_parameter_value("LOG_BITMASK", 1)
|
||||
|
||||
def RangeFinder(self):
|
||||
'''Test RangeFinder'''
|
||||
# the following magic numbers correspond to the post locations in SITL
|
||||
home_string = "%s,%s,%s,%s" % (51.8752066, 14.6487840, 54.15, 315)
|
||||
|
||||
|
|
@ -5837,7 +5878,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
if abs(m.distance - want_range) > 0.1:
|
||||
raise NotAchievedException("Expected %fm got %fm" % (want_range, m.distance))
|
||||
|
||||
def test_depthfinder(self):
|
||||
def DepthFinder(self):
|
||||
'''Test mulitple depthfinders for boats'''
|
||||
# Setup rangefinders
|
||||
self.customise_SITL_commandline([
|
||||
"--uartH=sim:nmea", # NMEA Rangefinder
|
||||
|
|
@ -5911,6 +5953,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
# self.context_pop()
|
||||
|
||||
def EStopAtBoot(self):
|
||||
'''Ensure EStop prevents arming when asserted at boot time'''
|
||||
self.context_push()
|
||||
self.set_parameters({
|
||||
"RC9_OPTION": 31,
|
||||
|
|
@ -5934,6 +5977,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
self.assert_mode(want)
|
||||
|
||||
def StickMixingAuto(self):
|
||||
'''Ensure Stick Mixing works in auto'''
|
||||
items = []
|
||||
self.set_parameter('STICK_MIXING', 1)
|
||||
# home
|
||||
|
|
@ -5953,6 +5997,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
self.disarm_vehicle()
|
||||
|
||||
def AutoDock(self):
|
||||
'''Test automatic docking of rover for multiple FOVs of simulated beacon'''
|
||||
self.context_push()
|
||||
|
||||
self.set_parameters({
|
||||
|
|
@ -6021,259 +6066,71 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
|
|||
ret = super(AutoTestRover, self).tests()
|
||||
|
||||
ret.extend([
|
||||
("MAVProxy_SetModeUsingSwitch",
|
||||
"Set modes via mavproxy switch",
|
||||
self.test_setting_modes_via_mavproxy_switch),
|
||||
|
||||
("HIGH_LATENCY2",
|
||||
"Set sending of HIGH_LATENCY2",
|
||||
self.HIGH_LATENCY2),
|
||||
|
||||
("MAVProxy_SetModeUsingMode",
|
||||
"Set modes via mavproxy mode command",
|
||||
self.test_setting_modes_via_mavproxy_mode_command),
|
||||
|
||||
("ModeSwitch",
|
||||
"Set modes via modeswitch",
|
||||
self.test_setting_modes_via_modeswitch),
|
||||
|
||||
("AuxModeSwitch",
|
||||
"Set modes via auxswitches",
|
||||
self.test_setting_modes_via_auxswitches),
|
||||
|
||||
("DriveRTL",
|
||||
"Drive an RTL Mission", self.drive_rtl_mission),
|
||||
|
||||
("SmartRTL",
|
||||
"Test SmartRTL",
|
||||
self.drive_smartrtl),
|
||||
|
||||
("DriveSquare",
|
||||
"Learn/Drive Square with Ch7 option",
|
||||
self.drive_square),
|
||||
|
||||
("DriveMaxRCIN",
|
||||
"Drive rover at max RC inputs",
|
||||
self.drive_max_rcin),
|
||||
|
||||
("DriveMission",
|
||||
"Drive Mission %s" % "rover1.txt",
|
||||
lambda: self.drive_mission("rover1.txt", strict=False)),
|
||||
|
||||
# disabled due to frequent failures in travis. This test needs re-writing
|
||||
# ("Drive Brake", self.drive_brake),
|
||||
|
||||
("GetBanner", "Get Banner", self.do_get_banner),
|
||||
|
||||
("DO_SET_MODE",
|
||||
"Set mode via MAV_COMMAND_DO_SET_MODE",
|
||||
self.test_do_set_mode_via_command_long),
|
||||
|
||||
("MAVProxy_DO_SET_MODE",
|
||||
"Set mode via MAV_COMMAND_DO_SET_MODE with MAVProxy",
|
||||
self.test_mavproxy_do_set_mode_via_command_long),
|
||||
|
||||
("ServoRelayEvents",
|
||||
"Test ServoRelayEvents",
|
||||
self.test_servorelayevents),
|
||||
|
||||
("RCOverrides", "Test RC overrides", self.test_rc_overrides),
|
||||
|
||||
("RCOverridesCancel", "Test RC overrides Cancel", self.test_rc_override_cancel),
|
||||
|
||||
("MANUAL_CONTROL", "Test mavlink MANUAL_CONTROL", self.test_manual_control),
|
||||
|
||||
("Sprayer", "Test Sprayer", self.test_sprayer),
|
||||
|
||||
("AC_Avoidance",
|
||||
"Test AC Avoidance switch",
|
||||
self.drive_fence_ac_avoidance),
|
||||
|
||||
("CameraMission",
|
||||
"Test Camera Mission Items",
|
||||
self.CameraMission),
|
||||
|
||||
# Gripper test
|
||||
("Gripper",
|
||||
"Test gripper",
|
||||
self.test_gripper),
|
||||
|
||||
("GripperMission",
|
||||
"Test Gripper Mission Items",
|
||||
self.test_gripper_mission),
|
||||
|
||||
("SET_MESSAGE_INTERVAL",
|
||||
"Test MAV_CMD_SET_MESSAGE_INTERVAL",
|
||||
self.test_set_message_interval),
|
||||
|
||||
("REQUEST_MESSAGE",
|
||||
"Test MAV_CMD_REQUEST_MESSAGE",
|
||||
self.test_request_message),
|
||||
|
||||
("SYSID_ENFORCE",
|
||||
"Test enforcement of SYSID_MYGCS",
|
||||
self.test_sysid_enforce),
|
||||
|
||||
("SET_ATTITUDE_TARGET",
|
||||
"Test handling of SET_ATTITUDE_TARGET",
|
||||
self.SET_ATTITUDE_TARGET),
|
||||
|
||||
("SET_POSITION_TARGET_LOCAL_NED",
|
||||
"Test handling of SET_POSITION_TARGET_LOCAL_NED",
|
||||
self.SET_POSITION_TARGET_LOCAL_NED),
|
||||
|
||||
("MAV_CMD_DO_SET_MISSION_CURRENT",
|
||||
"Test handling of CMD_DO_SET_MISSION_CURRENT",
|
||||
self.MAV_CMD_DO_SET_MISSION_CURRENT),
|
||||
|
||||
("Button",
|
||||
"Test Buttons",
|
||||
self.test_button),
|
||||
|
||||
("Rally",
|
||||
"Test Rally Points",
|
||||
self.Rally),
|
||||
|
||||
("Offboard",
|
||||
"Test Offboard Control",
|
||||
self.test_offboard),
|
||||
|
||||
("MAVProxyParam",
|
||||
"Test MAVProxy parameter handling",
|
||||
self.test_mavproxy_param),
|
||||
|
||||
("GCSFence",
|
||||
"Upload and download of fence",
|
||||
self.test_gcs_fence),
|
||||
|
||||
("Rally",
|
||||
"Upload and download of rally",
|
||||
self.test_rally),
|
||||
|
||||
("GCSMission",
|
||||
"Upload and download of mission",
|
||||
self.test_gcs_mission),
|
||||
|
||||
("GCSRally",
|
||||
"Upload and download of rally using MAVProxy",
|
||||
self.test_gcs_rally),
|
||||
|
||||
("MotorTest",
|
||||
"Motor Test triggered via mavlink",
|
||||
self.test_motor_test),
|
||||
|
||||
("WheelEncoders",
|
||||
"Ensure SITL wheel encoders work",
|
||||
self.test_wheelencoders),
|
||||
|
||||
("DataFlashOverMAVLink",
|
||||
"Test DataFlash over MAVLink",
|
||||
self.test_dataflash_over_mavlink),
|
||||
|
||||
("DataFlashSITL",
|
||||
"Test DataFlash SITL backend",
|
||||
self.test_dataflash_sitl),
|
||||
|
||||
("SkidSteer",
|
||||
"Check skid-steering",
|
||||
self.test_skid_steer),
|
||||
|
||||
("PolyFence",
|
||||
"PolyFence tests",
|
||||
self.test_poly_fence),
|
||||
|
||||
("PolyFenceAvoidance",
|
||||
"PolyFence avoidance tests",
|
||||
self.test_poly_fence_avoidance),
|
||||
|
||||
("PolyFenceObjectAvoidance",
|
||||
"PolyFence object avoidance tests",
|
||||
self.test_poly_fence_object_avoidance),
|
||||
|
||||
("PolyFenceObjectAvoidanceBendyRuler",
|
||||
"PolyFence object avoidance tests - bendy ruler",
|
||||
self.test_poly_fence_object_avoidance_bendy_ruler),
|
||||
|
||||
("SendToComponents",
|
||||
"Test ArduPilot send_to_components function",
|
||||
self.test_send_to_components),
|
||||
|
||||
("PolyFenceObjectAvoidanceBendyRulerEasier",
|
||||
"PolyFence object avoidance tests - easier bendy ruler test",
|
||||
self.test_poly_fence_object_avoidance_bendy_ruler_easier),
|
||||
|
||||
("SlewRate",
|
||||
"Test output slew rate",
|
||||
self.test_slew_rate),
|
||||
|
||||
("Scripting",
|
||||
"Scripting test",
|
||||
self.test_scripting),
|
||||
|
||||
("ScriptingSteeringAndThrottle",
|
||||
"Scripting test - steering and throttle",
|
||||
self.test_scripting_steering_and_throttle),
|
||||
|
||||
("MissionFrames",
|
||||
"Upload/Download of items in different frames",
|
||||
self.test_mission_frames),
|
||||
|
||||
("SetpointGlobalPos",
|
||||
"Test setpoint global position",
|
||||
lambda: self.test_set_position_global_int()),
|
||||
|
||||
("SetpointGlobalVel",
|
||||
"Test setpoint gloabl velocity",
|
||||
lambda: self.test_set_velocity_global_int()),
|
||||
|
||||
("AccelCal",
|
||||
"Accelerometer Calibration testing",
|
||||
self.accelcal),
|
||||
|
||||
("RangeFinder",
|
||||
"Test RangeFinder",
|
||||
self.RangeFinder),
|
||||
|
||||
("AP_Proximity_MAV",
|
||||
"Test MAV proximity backend",
|
||||
self.ap_proximity_mav),
|
||||
|
||||
("EndMissionBehavior",
|
||||
"Test end mission behavior",
|
||||
self.test_end_mission_behavior),
|
||||
|
||||
("FlashStorage",
|
||||
"Test flash storage (for parameters etc)",
|
||||
self.FlashStorage),
|
||||
|
||||
("FRAMStorage",
|
||||
"Test FRAM storage (for parameters etc)",
|
||||
self.FRAMStorage),
|
||||
|
||||
("LogUpload",
|
||||
"Upload logs",
|
||||
self.log_upload),
|
||||
|
||||
("DepthFinder",
|
||||
"Test mulitple depthfinders for boats",
|
||||
self.test_depthfinder),
|
||||
|
||||
("ChangeModeByNumber",
|
||||
"Test changing mode by number",
|
||||
self.ChangeModeByNumber),
|
||||
|
||||
("EStopAtBoot",
|
||||
"Ensure EStop prevents arming when asserted at boot time",
|
||||
self.EStopAtBoot),
|
||||
|
||||
("StickMixingAuto",
|
||||
"Ensure Stick Mixing works in auto",
|
||||
self.StickMixingAuto),
|
||||
|
||||
("AutoDock",
|
||||
"Test automatic docking of rover for multiple FOVs of simulated beacon",
|
||||
self.AutoDock),
|
||||
|
||||
self.MAVProxy_SetModeUsingSwitch,
|
||||
self.HIGH_LATENCY2,
|
||||
self.MAVProxy_SetModeUsingMode,
|
||||
self.ModeSwitch,
|
||||
self.AuxModeSwitch,
|
||||
self.DriveRTL,
|
||||
self.SmartRTL,
|
||||
self.DriveSquare,
|
||||
self.DriveMaxRCIN,
|
||||
self.DriveMission,
|
||||
# self.DriveBrake, # disabled due to frequent failures
|
||||
self.GetBanner,
|
||||
self.DO_SET_MODE,
|
||||
self.MAVProxy_DO_SET_MODE,
|
||||
self.ServoRelayEvents,
|
||||
self.RCOverrides,
|
||||
self.RCOverridesCancel,
|
||||
self.MANUAL_CONTROL,
|
||||
self.Sprayer,
|
||||
self.AC_Avoidance,
|
||||
self.CameraMission,
|
||||
self.Gripper,
|
||||
self.GripperMission,
|
||||
self.SET_MESSAGE_INTERVAL,
|
||||
self.REQUEST_MESSAGE,
|
||||
self.SYSID_ENFORCE,
|
||||
self.SET_ATTITUDE_TARGET,
|
||||
self.SET_POSITION_TARGET_LOCAL_NED,
|
||||
self.MAV_CMD_DO_SET_MISSION_CURRENT,
|
||||
self.Button,
|
||||
self.Rally,
|
||||
self.Offboard,
|
||||
self.MAVProxyParam,
|
||||
self.GCSFence,
|
||||
self.GCSMission,
|
||||
self.GCSRally,
|
||||
self.MotorTest,
|
||||
self.WheelEncoders,
|
||||
self.DataFlashOverMAVLink,
|
||||
self.DataFlash,
|
||||
self.SkidSteer,
|
||||
self.PolyFence,
|
||||
self.PolyFenceAvoidance,
|
||||
self.PolyFenceObjectAvoidance,
|
||||
self.PolyFenceObjectAvoidanceBendyRuler,
|
||||
self.SendToComponents,
|
||||
self.PolyFenceObjectAvoidanceBendyRulerEasier,
|
||||
self.SlewRate,
|
||||
self.Scripting,
|
||||
self.ScriptingSteeringAndThrottle,
|
||||
self.MissionFrames,
|
||||
self.SetpointGlobalPos,
|
||||
self.SetpointGlobalVel,
|
||||
self.AccelCal,
|
||||
self.RangeFinder,
|
||||
self.AP_Proximity_MAV,
|
||||
self.EndMissionBehavior,
|
||||
self.FlashStorage,
|
||||
self.FRAMStorage,
|
||||
self.LogUpload,
|
||||
self.DepthFinder,
|
||||
self.ChangeModeByNumber,
|
||||
self.EStopAtBoot,
|
||||
self.StickMixingAuto,
|
||||
self.AutoDock,
|
||||
])
|
||||
return ret
|
||||
|
||||
|
|
|
|||
|
|
@ -32,7 +32,8 @@ class AutoTestSailboat(AutoTestRover):
|
|||
self.frame = 'sailboat'
|
||||
super(AutoTestSailboat, self).init()
|
||||
|
||||
def drive_rtl_mission(self, timeout=120):
|
||||
def DriveRTL(self, timeout=120):
|
||||
'''Drive an RTL Mission'''
|
||||
self.wait_ready_to_arm()
|
||||
self.arm_vehicle()
|
||||
|
||||
|
|
@ -74,19 +75,17 @@ class AutoTestSailboat(AutoTestRover):
|
|||
|
||||
self.progress("RTL Mission OK")
|
||||
|
||||
def DriveMission(self):
|
||||
'''sail a simple mission'''
|
||||
self.drive_mission("balancebot1.txt", strict=False)
|
||||
|
||||
def tests(self):
|
||||
'''return list of all tests'''
|
||||
ret = ([])
|
||||
|
||||
ret.extend([
|
||||
("DriveRTL",
|
||||
"Drive an RTL Mission",
|
||||
self.drive_rtl_mission),
|
||||
|
||||
("DriveMission",
|
||||
"Drive Mission %s" % "balancebot1.txt",
|
||||
lambda: self.drive_mission("balancebot1.txt", strict=False)),
|
||||
|
||||
self.DriveRTL,
|
||||
self.DriveMission,
|
||||
])
|
||||
return ret
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue