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autotest: use reflection to collect test details

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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 2022-09-10 11:24:28 +10:00 committed by Peter Barker
parent b06afa8316
commit 80c36ecc97
10 changed files with 872 additions and 1600 deletions
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28
Tools/autotest/antennatracker.py
View File

@ -101,6 +101,7 @@ class AutoTestTracker(AutoTest):
super(AutoTestTracker, self).reboot_sitl(*args, **kwargs) super(AutoTestTracker, self).reboot_sitl(*args, **kwargs)
def GUIDED(self): def GUIDED(self):
'''Test GUIDED mode'''
self.reboot_sitl() # temporary hack around control issues self.reboot_sitl() # temporary hack around control issues
self.change_mode(4) # "GUIDED" self.change_mode(4) # "GUIDED"
self.achieve_attitude(desyaw=10, despitch=30) self.achieve_attitude(desyaw=10, despitch=30)
@ -108,6 +109,7 @@ class AutoTestTracker(AutoTest):
self.achieve_attitude(desyaw=45, despitch=10) self.achieve_attitude(desyaw=45, despitch=10)
def MANUAL(self): def MANUAL(self):
'''Test MANUAL mode'''
self.change_mode(0) # "MANUAL" self.change_mode(0) # "MANUAL"
for chan in 1, 2: for chan in 1, 2:
for pwm in 1200, 1600, 1367: for pwm in 1200, 1600, 1367:
@ -115,6 +117,7 @@ class AutoTestTracker(AutoTest):
self.wait_servo_channel_value(chan, pwm) self.wait_servo_channel_value(chan, pwm)
def SERVOTEST(self): def SERVOTEST(self):
'''Test SERVOTEST mode'''
self.change_mode(0) # "MANUAL" self.change_mode(0) # "MANUAL"
# magically changes to SERVOTEST (3) # magically changes to SERVOTEST (3)
for value in 1900, 1200: for value in 1900, 1200:
@ -143,6 +146,7 @@ class AutoTestTracker(AutoTest):
self.wait_servo_channel_value(channel, value) self.wait_servo_channel_value(channel, value)
def SCAN(self): def SCAN(self):
'''Test SCAN mode'''
self.change_mode(2) # "SCAN" self.change_mode(2) # "SCAN"
self.set_parameter("SCAN_SPEED_YAW", 20) self.set_parameter("SCAN_SPEED_YAW", 20)
for channel in 1, 2: for channel in 1, 2:
@ -166,24 +170,10 @@ class AutoTestTracker(AutoTest):
'''return list of all tests''' '''return list of all tests'''
ret = super(AutoTestTracker, self).tests() ret = super(AutoTestTracker, self).tests()
ret.extend([ ret.extend([
("GUIDED", self.GUIDED,
"Test GUIDED mode", self.MANUAL,
self.GUIDED), self.SERVOTEST,
self.NMEAOutput,
("MANUAL", self.SCAN,
"Test MANUAL mode",
self.MANUAL),
("SERVOTEST",
"Test SERVOTEST mode",
self.SERVOTEST),
("NMEAOutput",
"Test AHRS NMEA Output can be read by out NMEA GPS",
self.nmea_output),
("SCAN",
"Test SCAN mode",
self.SCAN),
]) ])
return ret return ret

994
Tools/autotest/arducopter.py
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File diff suppressed because it is too large Load Diff

497
Tools/autotest/arduplane.py
View File

@ -550,7 +550,8 @@ class AutoTestPlane(AutoTest):
self.context_pop() self.context_pop()
self.progress("Mission OK") self.progress("Mission OK")
def fly_do_reposition(self): def DO_REPOSITION(self):
'''Test mavlink DO_REPOSITION command'''
self.progress("Takeoff") self.progress("Takeoff")
self.takeoff(alt=50) self.takeoff(alt=50)
self.set_rc(3, 1500) self.set_rc(3, 1500)
@ -575,7 +576,8 @@ class AutoTestPlane(AutoTest):
self.fly_home_land_and_disarm() self.fly_home_land_and_disarm()
def fly_deepstall(self): def DeepStall(self):
'''Test DeepStall Landing'''
# self.fly_deepstall_absolute() # self.fly_deepstall_absolute()
self.fly_deepstall_relative() self.fly_deepstall_relative()
@ -648,6 +650,7 @@ class AutoTestPlane(AutoTest):
self.fly_home_land_and_disarm(timeout=240) self.fly_home_land_and_disarm(timeout=240)
def SmartBattery(self): def SmartBattery(self):
'''Test smart battery logging etc'''
self.set_parameters({ self.set_parameters({
"BATT_MONITOR": 16, # Maxell battery monitor "BATT_MONITOR": 16, # Maxell battery monitor
}) })
@ -674,7 +677,7 @@ class AutoTestPlane(AutoTest):
raise NotAchievedException("Expected BCL2 message") raise NotAchievedException("Expected BCL2 message")
def DO_CHANGE_SPEED(self): def DO_CHANGE_SPEED(self):
'''test DO_CHANGE_SPEED both as a mavlink command and as a mission item''' '''Test DO_CHANGE_SPEED command/item'''
# the following lines ensure we revert these parameter values # the following lines ensure we revert these parameter values
# - DO_CHANGE_AIRSPEED is a permanent vehicle change! # - DO_CHANGE_AIRSPEED is a permanent vehicle change!
self.set_parameters({ self.set_parameters({
@ -814,7 +817,7 @@ class AutoTestPlane(AutoTest):
# this is probably too noisy anyway? # this is probably too noisy anyway?
self.wait_disarmed(timeout=timeout) self.wait_disarmed(timeout=timeout)
def fly_flaps(self): def TestFlaps(self):
"""Test flaps functionality.""" """Test flaps functionality."""
filename = "flaps.txt" filename = "flaps.txt"
self.context_push() self.context_push()
@ -907,8 +910,8 @@ class AutoTestPlane(AutoTest):
self.disarm_vehicle() self.disarm_vehicle()
raise ex raise ex
def test_rc_relay(self): def TestRCRelay(self):
'''test toggling channel 12 toggles relay''' '''Test Relay RC Channel Option'''
self.set_parameter("RC12_OPTION", 28) # Relay On/Off self.set_parameter("RC12_OPTION", 28) # Relay On/Off
self.set_rc(12, 1000) self.set_rc(12, 1000)
self.reboot_sitl() # needed for RC12_OPTION to take effect self.reboot_sitl() # needed for RC12_OPTION to take effect
@ -934,8 +937,8 @@ class AutoTestPlane(AutoTest):
if off: if off:
raise NotAchievedException("SIM_PIN_MASK doesn't reflect OFF") raise NotAchievedException("SIM_PIN_MASK doesn't reflect OFF")
def test_rc_option_camera_trigger(self): def TestRCCamera(self):
'''test toggling channel 12 takes picture''' '''Test RC Option - Camera Trigger'''
self.set_parameter("RC12_OPTION", 9) # CameraTrigger self.set_parameter("RC12_OPTION", 9) # CameraTrigger
self.reboot_sitl() # needed for RC12_OPTION to take effect self.reboot_sitl() # needed for RC12_OPTION to take effect
@ -970,6 +973,7 @@ class AutoTestPlane(AutoTest):
self.fly_home_land_and_disarm() self.fly_home_land_and_disarm()
def ThrottleFailsafe(self): def ThrottleFailsafe(self):
'''Fly throttle failsafe'''
self.change_mode('MANUAL') self.change_mode('MANUAL')
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
receiver_bit = mavutil.mavlink.MAV_SYS_STATUS_SENSOR_RC_RECEIVER receiver_bit = mavutil.mavlink.MAV_SYS_STATUS_SENSOR_RC_RECEIVER
@ -1113,7 +1117,8 @@ class AutoTestPlane(AutoTest):
self.context_pop() self.context_pop()
self.reboot_sitl() self.reboot_sitl()
def test_throttle_failsafe_fence(self): def ThrottleFailsafeFence(self):
'''Fly fence survives throttle failsafe'''
fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
self.progress("Checking fence is not present before being configured") self.progress("Checking fence is not present before being configured")
@ -1161,7 +1166,8 @@ class AutoTestPlane(AutoTest):
raise NotAchievedException("Fence not enabled after RC fail") raise NotAchievedException("Fence not enabled after RC fail")
self.do_fence_disable() # Ensure the fence is disabled after test self.do_fence_disable() # Ensure the fence is disabled after test
def test_gripper_mission(self): def TestGripperMission(self):
'''Test Gripper mission items'''
self.context_push() self.context_push()
ex = None ex = None
try: try:
@ -1241,7 +1247,8 @@ class AutoTestPlane(AutoTest):
on_radius_start_heading = None on_radius_start_heading = None
circle_time_start = 0 circle_time_start = 0
def test_fence_static(self): def FenceStatic(self):
'''Test Basic Fence Functionality'''
ex = None ex = None
try: try:
self.progress("Checking for bizarre healthy-when-not-present-or-enabled") self.progress("Checking for bizarre healthy-when-not-present-or-enabled")
@ -1416,14 +1423,16 @@ class AutoTestPlane(AutoTest):
if ex is not None: if ex is not None:
raise ex raise ex
def test_fence_rtl(self): def FenceRTL(self):
'''Test Fence RTL'''
self.progress("Testing FENCE_ACTION_RTL no rally point") self.progress("Testing FENCE_ACTION_RTL no rally point")
# have to disable the fence once we've breached or we breach # have to disable the fence once we've breached or we breach
# it as part of the loiter-at-home! # it as part of the loiter-at-home!
self.test_fence_breach_circle_at(self.home_position_as_mav_location(), self.test_fence_breach_circle_at(self.home_position_as_mav_location(),
disable_on_breach=True) disable_on_breach=True)
def test_fence_rtl_rally(self): def FenceRTLRally(self):
'''Test Fence RTL Rally'''
ex = None ex = None
target_system = 1 target_system = 1
target_component = 1 target_component = 1
@ -1455,7 +1464,7 @@ class AutoTestPlane(AutoTest):
if ex is not None: if ex is not None:
raise ex raise ex
def test_fence_ret_rally(self): def FenceRetRally(self):
""" Tests the FENCE_RET_RALLY flag, either returning to fence return point, """ Tests the FENCE_RET_RALLY flag, either returning to fence return point,
or rally point """ or rally point """
target_system = 1 target_system = 1
@ -1542,7 +1551,8 @@ class AutoTestPlane(AutoTest):
self.do_fence_disable() # Disable fence so we can land self.do_fence_disable() # Disable fence so we can land
self.fly_home_land_and_disarm() # Pack it up, we're going home. self.fly_home_land_and_disarm() # Pack it up, we're going home.
def test_parachute(self): def Parachute(self):
'''Test Parachute'''
self.set_rc(9, 1000) self.set_rc(9, 1000)
self.set_parameters({ self.set_parameters({
"CHUTE_ENABLED": 1, "CHUTE_ENABLED": 1,
@ -1561,7 +1571,8 @@ class AutoTestPlane(AutoTest):
self.disarm_vehicle(force=True) self.disarm_vehicle(force=True)
self.reboot_sitl() self.reboot_sitl()
def test_parachute_sinkrate(self): def ParachuteSinkRate(self):
'''Test Parachute (SinkRate triggering)'''
self.set_rc(9, 1000) self.set_rc(9, 1000)
self.set_parameters({ self.set_parameters({
"CHUTE_ENABLED": 1, "CHUTE_ENABLED": 1,
@ -1672,8 +1683,8 @@ class AutoTestPlane(AutoTest):
self.check_attitudes_match(1, 2) self.check_attitudes_match(1, 2)
def test_main_flight(self): def MainFlight(self):
'''Lots of things in one flight'''
self.change_mode('MANUAL') self.change_mode('MANUAL')
self.progress("Asserting we do support transfer of fence via mission item protocol") self.progress("Asserting we do support transfer of fence via mission item protocol")
@ -1712,7 +1723,8 @@ class AutoTestPlane(AutoTest):
self.run_subtest("Mission test", self.run_subtest("Mission test",
lambda: self.fly_mission("ap1.txt", strict=False)) lambda: self.fly_mission("ap1.txt", strict=False))
def airspeed_autocal(self): def AIRSPEED_AUTOCAL(self):
'''Test AIRSPEED_AUTOCAL'''
self.progress("Ensure no AIRSPEED_AUTOCAL on ground") self.progress("Ensure no AIRSPEED_AUTOCAL on ground")
self.set_parameters({ self.set_parameters({
"ARSPD_AUTOCAL": 1, "ARSPD_AUTOCAL": 1,
@ -1815,13 +1827,16 @@ class AutoTestPlane(AutoTest):
finally: finally:
self.remove_message_hook(validate_global_position_int_against_simstate) self.remove_message_hook(validate_global_position_int_against_simstate)
def deadreckoning(self): def Deadreckoning(self):
'''Test deadreckoning support'''
self.deadreckoning_main() self.deadreckoning_main()
def deadreckoning_no_airspeed_sensor(self): def DeadreckoningNoAirSpeed(self):
'''Test deadreckoning support with no airspeed sensor'''
self.deadreckoning_main(disable_airspeed_sensor=True) self.deadreckoning_main(disable_airspeed_sensor=True)
def climb_before_turn(self): def ClimbBeforeTurn(self):
'''Test climb-before-turn'''
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.set_parameters({ self.set_parameters({
"FLIGHT_OPTIONS": 0, "FLIGHT_OPTIONS": 0,
@ -1879,7 +1894,8 @@ class AutoTestPlane(AutoTest):
self.fly_home_land_and_disarm(timeout=240) self.fly_home_land_and_disarm(timeout=240)
def rtl_climb_min(self): def RTL_CLIMB_MIN(self):
'''Test RTL_CLIMB_MIN'''
self.wait_ready_to_arm() self.wait_ready_to_arm()
rtl_climb_min = 100 rtl_climb_min = 100
self.set_parameter("RTL_CLIMB_MIN", rtl_climb_min) self.set_parameter("RTL_CLIMB_MIN", rtl_climb_min)
@ -1925,7 +1941,8 @@ class AutoTestPlane(AutoTest):
def sample_enable_parameter(self): def sample_enable_parameter(self):
return "Q_ENABLE" return "Q_ENABLE"
def test_rangefinder(self): def RangeFinder(self):
'''Test RangeFinder Basic Functionality'''
ex = None ex = None
self.context_push() self.context_push()
self.progress("Making sure we don't ordinarily get RANGEFINDER") self.progress("Making sure we don't ordinarily get RANGEFINDER")
@ -1989,11 +2006,13 @@ class AutoTestPlane(AutoTest):
def default_mode(self): def default_mode(self):
return "MANUAL" return "MANUAL"
def test_pid_tuning(self): def PIDTuning(self):
'''Test PID Tuning'''
self.change_mode("FBWA") # we don't update PIDs in MANUAL self.change_mode("FBWA") # we don't update PIDs in MANUAL
super(AutoTestPlane, self).test_pid_tuning() super(AutoTestPlane, self).PIDTuning()
def test_setting_modes_via_auxswitches(self): def AuxModeSwitch(self):
'''Set modes via auxswitches'''
self.set_parameter("FLTMODE1", 1) # circle self.set_parameter("FLTMODE1", 1) # circle
self.set_rc(8, 950) self.set_rc(8, 950)
self.wait_mode("CIRCLE") self.wait_mode("CIRCLE")
@ -2039,8 +2058,7 @@ class AutoTestPlane(AutoTest):
last_collision = now last_collision = now
def SimADSB(self): def SimADSB(self):
'''trivial tests to ensure simulated ADSB sensor continues to '''Tests to ensure simulated ADSB sensor continues to function'''
function'''
self.set_parameters({ self.set_parameters({
"SIM_ADSB_COUNT": 1, "SIM_ADSB_COUNT": 1,
"ADSB_TYPE": 1, "ADSB_TYPE": 1,
@ -2049,6 +2067,7 @@ function'''
self.assert_receive_message('ADSB_VEHICLE', timeout=30) self.assert_receive_message('ADSB_VEHICLE', timeout=30)
def ADSB(self): def ADSB(self):
'''Test ADSB'''
self.ADSB_f_action_rtl() self.ADSB_f_action_rtl()
self.ADSB_r_action_resume_or_loiter() self.ADSB_r_action_resume_or_loiter()
@ -2153,7 +2172,8 @@ function'''
if ex is not None: if ex is not None:
raise ex raise ex
def fly_do_guided_request(self, target_system=1, target_component=1): def GuidedRequest(self, target_system=1, target_component=1):
'''Test handling of MISSION_ITEM in guided mode'''
self.progress("Takeoff") self.progress("Takeoff")
self.takeoff(alt=50) self.takeoff(alt=50)
self.set_rc(3, 1500) self.set_rc(3, 1500)
@ -2239,6 +2259,7 @@ function'''
self.fly_home_land_and_disarm() self.fly_home_land_and_disarm()
def LOITER(self): def LOITER(self):
'''Test Loiter mode'''
# first test old loiter behavour # first test old loiter behavour
self.set_parameter("FLIGHT_OPTIONS", 0) self.set_parameter("FLIGHT_OPTIONS", 0)
self.takeoff(alt=200) self.takeoff(alt=200)
@ -2306,11 +2327,13 @@ function'''
'''In lockup Plane should copy RC inputs to RC outputs''' '''In lockup Plane should copy RC inputs to RC outputs'''
self.plane_CPUFailsafe() self.plane_CPUFailsafe()
def test_large_missions(self): def LargeMissions(self):
'''Test Manipulation of Large missions'''
self.load_mission("Kingaroy-vlarge.txt", strict=False) self.load_mission("Kingaroy-vlarge.txt", strict=False)
self.load_mission("Kingaroy-vlarge2.txt", strict=False) self.load_mission("Kingaroy-vlarge2.txt", strict=False)
def fly_soaring(self): def Soaring(self):
'''Test Soaring feature'''
model = "plane-soaring" model = "plane-soaring"
@ -2421,7 +2444,8 @@ function'''
self.progress("Mission OK") self.progress("Mission OK")
def fly_soaring_speed_to_fly(self): def SpeedToFly(self):
'''Test soaring speed-to-fly'''
model = "plane-soaring" model = "plane-soaring"
@ -2553,7 +2577,8 @@ function'''
self.disarm_vehicle(force=True) self.disarm_vehicle(force=True)
self.reboot_sitl() self.reboot_sitl()
def test_airspeed_drivers(self): def AirspeedDrivers(self):
'''Test AirSpeed drivers'''
airspeed_sensors = [ airspeed_sensors = [
("MS5525", 3, 1), ("MS5525", 3, 1),
("DLVR", 7, 2), ("DLVR", 7, 2),
@ -2608,7 +2633,7 @@ function'''
self.reboot_sitl() self.reboot_sitl()
def TerrainMission(self): def TerrainMission(self):
'''Test terrain following in mission'''
self.install_terrain_handlers_context() self.install_terrain_handlers_context()
num_wp = self.load_mission("ap-terrain.txt") num_wp = self.load_mission("ap-terrain.txt")
@ -2679,6 +2704,7 @@ function'''
(expected_terrain_height, report.terrain_height)) (expected_terrain_height, report.terrain_height))
def TerrainLoiter(self): def TerrainLoiter(self):
'''Test terrain following in loiter'''
self.context_push() self.context_push()
self.set_parameters({ self.set_parameters({
"TERRAIN_FOLLOW": 1, # enable terrain following in loiter "TERRAIN_FOLLOW": 1, # enable terrain following in loiter
@ -2727,10 +2753,12 @@ function'''
self.arm_vehicle() self.arm_vehicle()
self.fly_mission(mission) self.fly_mission(mission)
def test_vectornav(self): def VectorNavEAHRS(self):
'''Test VectorNav EAHRS support'''
self.fly_external_AHRS("VectorNav", 1, "ap1.txt") self.fly_external_AHRS("VectorNav", 1, "ap1.txt")
def test_lord(self): def LordEAHRS(self):
'''Test LORD Microstrain EAHRS support'''
self.fly_external_AHRS("LORD", 2, "ap1.txt") self.fly_external_AHRS("LORD", 2, "ap1.txt")
def get_accelvec(self, m): def get_accelvec(self, m):
@ -2739,7 +2767,8 @@ function'''
def get_gyrovec(self, m): def get_gyrovec(self, m):
return Vector3(m.xgyro, m.ygyro, m.zgyro) * 0.001 * math.degrees(1) return Vector3(m.xgyro, m.ygyro, m.zgyro) * 0.001 * math.degrees(1)
def test_imu_tempcal(self): def IMUTempCal(self):
'''Test IMU temperature calibration'''
self.progress("Setting up SITL temperature profile") self.progress("Setting up SITL temperature profile")
self.set_parameters({ self.set_parameters({
"SIM_IMUT1_ENABLE" : 1, "SIM_IMUT1_ENABLE" : 1,
@ -2908,7 +2937,8 @@ function'''
# parameters). So wipe the vehicle's eeprom: # parameters). So wipe the vehicle's eeprom:
self.reset_SITL_commandline() self.reset_SITL_commandline()
def ekf_lane_switch(self): def EKFlaneswitch(self):
'''Test EKF3 Affinity and Lane Switching'''
self.context_push() self.context_push()
ex = None ex = None
@ -3106,7 +3136,8 @@ function'''
if ex is not None: if ex is not None:
raise ex raise ex
def test_fence_alt_ceil_floor(self): def FenceAltCeilFloor(self):
'''Tests the fence ceiling and floor'''
fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
self.set_parameters({ self.set_parameters({
"FENCE_TYPE": 9, # Set fence type to max and min alt "FENCE_TYPE": 9, # Set fence type to max and min alt
@ -3151,7 +3182,8 @@ function'''
self.fly_home_land_and_disarm(timeout=150) self.fly_home_land_and_disarm(timeout=150)
def test_fence_breached_change_mode(self): def FenceBreachedChangeMode(self):
'''Tests manual mode change after fence breach, as set with FENCE_OPTIONS'''
""" Attempts to change mode while a fence is breached. """ Attempts to change mode while a fence is breached.
mode should change should fail if fence option bit is set""" mode should change should fail if fence option bit is set"""
self.set_parameters({ self.set_parameters({
@ -3210,7 +3242,8 @@ function'''
self.do_fence_disable() self.do_fence_disable()
self.fly_home_land_and_disarm() 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. """ Attempts to change mode while a fence is breached.
This should revert to the mode specified by the fence action. """ This should revert to the mode specified by the fence action. """
want_radius = 100 # Fence Return Radius want_radius = 100 # Fence Return Radius
@ -3285,7 +3318,8 @@ function'''
self.do_fence_disable() self.do_fence_disable()
self.fly_home_land_and_disarm() 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 """ Test result when a breach occurs and No fence return point is present and
no inclusion fence is present and exclusion fence is present """ no inclusion fence is present and exclusion fence is present """
want_radius = 100 # Fence Return Radius want_radius = 100 # Fence Return Radius
@ -3333,7 +3367,8 @@ function'''
self.do_fence_disable() self.do_fence_disable()
self.fly_home_land_and_disarm() 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. """ Fence breach will cause the vehicle to enter guided mode.
Upon breach clear, check the vehicle is in the expected mode""" Upon breach clear, check the vehicle is in the expected mode"""
self.set_parameters({ self.set_parameters({
@ -3374,7 +3409,8 @@ function'''
want_result=want_result 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.context_collect('STATUSTEXT')
self.run_auxfunc(64, 2) # 64 == reverse throttle self.run_auxfunc(64, 2) # 64 == reverse throttle
self.wait_statustext("RevThrottle: ENABLE", check_context=True) self.wait_statustext("RevThrottle: ENABLE", check_context=True)
@ -3396,7 +3432,8 @@ function'''
want_result=mavutil.mavlink.MAV_RESULT_DENIED want_result=mavutil.mavlink.MAV_RESULT_DENIED
) )
def fly_each_frame(self): def FlyEachFrame(self):
'''Fly each supported internal frame'''
vinfo = vehicleinfo.VehicleInfo() vinfo = vehicleinfo.VehicleInfo()
vinfo_options = vinfo.options[self.vehicleinfo_key()] vinfo_options = vinfo.options[self.vehicleinfo_key()]
known_broken_frames = { known_broken_frames = {
@ -3444,6 +3481,7 @@ function'''
self.wait_disarmed() self.wait_disarmed()
def RCDisableAirspeedUse(self): def RCDisableAirspeedUse(self):
'''Test RC DisableAirspeedUse option'''
self.set_parameter("RC9_OPTION", 106) self.set_parameter("RC9_OPTION", 106)
self.delay_sim_time(5) self.delay_sim_time(5)
self.set_rc(9, 1000) self.set_rc(9, 1000)
@ -3466,6 +3504,7 @@ function'''
True) True)
def WatchdogHome(self): def WatchdogHome(self):
'''Ensure home is restored after watchdog reset'''
if self.gdb: if self.gdb:
# we end up signalling the wrong process. I think. # we end up signalling the wrong process. I think.
# Probably need to have a "sitl_pid()" method to get the # Probably need to have a "sitl_pid()" method to get the
@ -3519,6 +3558,7 @@ function'''
raise ex raise ex
def AUTOTUNE(self): def AUTOTUNE(self):
'''Test AutoTune mode'''
self.takeoff(100) self.takeoff(100)
self.change_mode('AUTOTUNE') self.change_mode('AUTOTUNE')
self.context_collect('STATUSTEXT') self.context_collect('STATUSTEXT')
@ -3569,8 +3609,8 @@ function'''
self.change_mode('FBWA') self.change_mode('FBWA')
self.fly_home_land_and_disarm(timeout=tdelta+240) 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.customise_SITL_commandline([], wipe=True)
self.set_analog_rangefinder_parameters() self.set_analog_rangefinder_parameters()
@ -3607,6 +3647,7 @@ function'''
self.wait_disarmed(timeout=180) self.wait_disarmed(timeout=180)
def DCMFallback(self): def DCMFallback(self):
'''Really annoy the EKF and force fallback'''
self.reboot_sitl() self.reboot_sitl()
self.delay_sim_time(30) self.delay_sim_time(30)
self.wait_ready_to_arm() self.wait_ready_to_arm()
@ -3631,7 +3672,7 @@ function'''
self.fly_home_land_and_disarm() self.fly_home_land_and_disarm()
def ForcedDCM(self): def ForcedDCM(self):
'''Switch to DCM mid-flight'''
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
@ -3644,6 +3685,7 @@ function'''
self.fly_home_land_and_disarm() self.fly_home_land_and_disarm()
def MegaSquirt(self): def MegaSquirt(self):
'''Test MegaSquirt EFI'''
self.assert_not_receiving_message('EFI_STATUS') self.assert_not_receiving_message('EFI_STATUS')
self.set_parameters({ self.set_parameters({
'SIM_EFI_TYPE': 1, 'SIM_EFI_TYPE': 1,
@ -3661,7 +3703,8 @@ function'''
if m.intake_manifold_temperature < 20: if m.intake_manifold_temperature < 20:
raise NotAchievedException("Bad intake manifold temperature") 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 # 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). # 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) self.fly_home_land_and_disarm(timeout=180)
def MidAirDisarmDisallowed(self): def MidAirDisarmDisallowed(self):
'''Ensure mid-air disarm is not possible'''
self.takeoff(50) self.takeoff(50)
disarmed = False disarmed = False
try: try:
@ -3885,289 +3929,82 @@ function'''
'''return list of all tests''' '''return list of all tests'''
ret = super(AutoTestPlane, self).tests() ret = super(AutoTestPlane, self).tests()
ret.extend([ ret.extend([
self.AuxModeSwitch,
("AuxModeSwitch", self.TestRCCamera,
"Set modes via auxswitches", self.TestRCRelay,
self.test_setting_modes_via_auxswitches), self.ThrottleFailsafe,
self.NeedEKFToArm,
("TestRCCamera", self.ThrottleFailsafeFence,
"Test RC Option - Camera Trigger", self.TestFlaps,
self.test_rc_option_camera_trigger), self.DO_CHANGE_SPEED,
self.DO_REPOSITION,
("TestRCRelay", "Test Relay RC Channel Option", self.test_rc_relay), self.GuidedRequest,
self.MainFlight,
("ThrottleFailsafe", self.TestGripperMission,
"Fly throttle failsafe", self.Parachute,
self.ThrottleFailsafe), self.ParachuteSinkRate,
self.AIRSPEED_AUTOCAL,
("NeedEKFToArm", self.RangeFinder,
"Ensure we need EKF to be healthy to arm", self.FenceStatic,
self.NeedEKFToArm), self.FenceRTL,
self.FenceRTLRally,
("ThrottleFailsafeFence", self.FenceRetRally,
"Fly fence survives throttle failsafe", self.FenceAltCeilFloor,
self.test_throttle_failsafe_fence), self.FenceBreachedChangeMode,
self.FenceNoFenceReturnPoint,
("TestFlaps", "Flaps", self.fly_flaps), self.FenceNoFenceReturnPointInclusion,
self.FenceDisableUnderAction,
("DO_CHANGE_SPEED", self.ADSB,
"Test DO_CHANGE_SPEED command/item", self.SimADSB,
self.DO_CHANGE_SPEED), self.Button,
self.FRSkySPort,
("DO_REPOSITION", self.FRSkyPassThroughStatustext,
"Test mavlink DO_REPOSITION command", self.FRSkyPassThroughSensorIDs,
self.fly_do_reposition), self.FRSkyMAVlite,
self.FRSkyD,
("GuidedRequest", self.LTM,
"Test handling of MISSION_ITEM in guided mode", self.DEVO,
self.fly_do_guided_request), self.AdvancedFailsafe,
self.LOITER,
("MainFlight", self.MAV_CMD_NAV_LOITER_TURNS,
"Lots of things in one flight", self.DeepStall,
self.test_main_flight), self.WatchdogHome,
self.LargeMissions,
("TestGripperMission", self.Soaring,
"Test Gripper mission items", self.Terrain,
self.test_gripper_mission), self.TerrainMission,
self.TerrainLoiter,
("Parachute", "Test Parachute", self.test_parachute), self.VectorNavEAHRS,
self.LordEAHRS,
("ParachuteSinkRate", "Test Parachute (SinkRate triggering)", self.test_parachute_sinkrate), self.Deadreckoning,
self.DeadreckoningNoAirSpeed,
("AIRSPEED_AUTOCAL", "Test AIRSPEED_AUTOCAL", self.airspeed_autocal), self.EKFlaneswitch,
self.AirspeedDrivers,
("RangeFinder", self.RTL_CLIMB_MIN,
"Test RangeFinder Basic Functionality", self.ClimbBeforeTurn,
self.test_rangefinder), self.IMUTempCal,
self.MAV_DO_AUX_FUNCTION,
("FenceStatic", self.SmartBattery,
"Test Basic Fence Functionality", self.FlyEachFrame,
self.test_fence_static), self.RCDisableAirspeedUse,
self.AHRS_ORIENTATION,
("FenceRTL", self.AHRSTrim,
"Test Fence RTL", self.LandingDrift,
self.test_fence_rtl), self.ForcedDCM,
self.DCMFallback,
("FenceRTLRally", self.MAVFTP,
"Test Fence RTL Rally", self.AUTOTUNE,
self.test_fence_rtl_rally), self.MegaSquirt,
self.MSP_DJI,
("FenceRetRally", self.SpeedToFly,
"Test Fence Ret_Rally", self.GlideSlopeThresh,
self.test_fence_ret_rally), self.LogUpload,
self.HIGH_LATENCY2,
("FenceAltCeilFloor", self.MidAirDisarmDisallowed,
"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),
]) ])
return ret return ret
def disabled_tests(self): def disabled_tests(self):
return { return {
"Landing-Drift": "Flapping test. See https://github.com/ArduPilot/ardupilot/issues/20054", "LandingDrift": "Flapping test. See https://github.com/ArduPilot/ardupilot/issues/20054",
} }

68
Tools/autotest/ardusub.py
View File

@ -103,9 +103,8 @@ class AutoTestSub(AutoTest):
"Altitude not maintained: want %.2f (+/- %.2f) got=%.2f" % "Altitude not maintained: want %.2f (+/- %.2f) got=%.2f" %
(previous_altitude, delta, m.alt)) (previous_altitude, delta, m.alt))
def test_alt_hold(self): def AltitudeHold(self):
"""Test ALT_HOLD mode """Test ALT_HOLD mode"""
"""
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
self.change_mode('ALT_HOLD') self.change_mode('ALT_HOLD')
@ -167,7 +166,7 @@ class AutoTestSub(AutoTest):
self.watch_altitude_maintained() self.watch_altitude_maintained()
self.disarm_vehicle() self.disarm_vehicle()
def test_pos_hold(self): def PositionHold(self):
"""Test POSHOLD mode""" """Test POSHOLD mode"""
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() 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 raise NotAchievedException("Position Hold was unable to move north 2 meters, moved {} at {} degrees instead".format(distance_m, bearing)) # noqa
self.disarm_vehicle() self.disarm_vehicle()
def test_mot_thst_hover_ignore(self): def MotorThrustHoverParameterIgnore(self):
"""Test if we are ignoring MOT_THST_HOVER parameter """Test if we are ignoring MOT_THST_HOVER parameter"""
"""
# Test default parameter value # Test default parameter value
mot_thst_hover_value = self.get_parameter("MOT_THST_HOVER") mot_thst_hover_value = self.get_parameter("MOT_THST_HOVER")
@ -225,9 +223,10 @@ class AutoTestSub(AutoTest):
# Test if parameter is being ignored # Test if parameter is being ignored
for value in [0.25, 0.75]: for value in [0.25, 0.75]:
self.set_parameter("MOT_THST_HOVER", value) 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.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
@ -259,7 +258,9 @@ class AutoTestSub(AutoTest):
if m.temperature != 2650: if m.temperature != 2650:
raise NotAchievedException("Did not get correct TSYS01 temperature") 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.progress("Executing mission %s" % filename)
self.load_mission(filename) self.load_mission(filename)
self.set_rc_default() self.set_rc_default()
@ -274,7 +275,8 @@ class AutoTestSub(AutoTest):
self.progress("Mission OK") self.progress("Mission OK")
def test_gripper_mission(self): def GripperMission(self):
'''Test gripper mission items'''
try: try:
self.get_parameter("GRIP_ENABLE", timeout=5) self.get_parameter("GRIP_ENABLE", timeout=5)
except NotAchievedException: except NotAchievedException:
@ -289,7 +291,8 @@ class AutoTestSub(AutoTest):
self.wait_statustext("Gripper Grabbed", timeout=60) self.wait_statustext("Gripper Grabbed", timeout=60)
self.wait_statustext("Gripper Released", 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.change_mode('GUIDED')
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
@ -376,6 +379,7 @@ class AutoTestSub(AutoTest):
self.initialise_after_reboot_sitl() self.initialise_after_reboot_sitl()
def DoubleCircle(self): def DoubleCircle(self):
'''Test entering circle twice'''
self.change_mode('CIRCLE') self.change_mode('CIRCLE')
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
@ -400,36 +404,16 @@ class AutoTestSub(AutoTest):
ret = super(AutoTestSub, self).tests() ret = super(AutoTestSub, self).tests()
ret.extend([ ret.extend([
("DiveManual", "Dive manual", self.dive_manual), self.DiveManual,
self.AltitudeHold,
("AltitudeHold", "Test altitude holde mode", self.test_alt_hold), self.PositionHold,
("PositionHold", "Test position hold mode", self.test_pos_hold), self.DiveMission,
self.GripperMission,
("DiveMission", self.DoubleCircle,
"Dive mission", self.MotorThrustHoverParameterIgnore,
lambda: self.dive_mission("sub_mission.txt")), self.SET_POSITION_TARGET_GLOBAL_INT,
self.TestLogDownloadMAVProxy,
("GripperMission", self.LogUpload,
"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),
]) ])
return ret return ret

47
Tools/autotest/balancebot.py
View File

@ -31,7 +31,8 @@ class AutoTestBalanceBot(AutoTestRover):
self.frame = 'balancebot' self.frame = 'balancebot'
super(AutoTestBalanceBot, self).init() 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("HOLD")
self.do_set_mode_via_command_long("MANUAL") self.do_set_mode_via_command_long("MANUAL")
@ -48,13 +49,14 @@ class AutoTestBalanceBot(AutoTestRover):
'''balancebot tends to wander backwards, away from the target''' '''balancebot tends to wander backwards, away from the target'''
return 8 return 8
def drive_rtl_mission(self): def DriveRTL(self):
'''Drive an RTL Mission'''
# if we Hold then the balancebot continues to wander # if we Hold then the balancebot continues to wander
# indefinitely at ~1m/s, hence we set to Acro # indefinitely at ~1m/s, hence we set to Acro
self.set_parameter("MIS_DONE_BEHAVE", 2) 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''' '''make sure wheel encoders are generally working'''
ex = None ex = None
try: try:
@ -95,6 +97,10 @@ class AutoTestBalanceBot(AutoTestRover):
if ex is not None: if ex is not None:
raise ex raise ex
def DriveMission(self):
'''Drive Mission rover1.txt'''
self.drive_mission("balancebot1.txt", strict=False)
def tests(self): def tests(self):
'''return list of all tests''' '''return list of all tests'''
@ -103,32 +109,13 @@ inherit Rover's tests!'''
ret = AutoTest.tests(self) ret = AutoTest.tests(self)
ret.extend([ ret.extend([
self.DriveRTL,
("DriveRTL", self.DriveMission,
"Drive an RTL Mission", self.TestWheelEncoder,
self.drive_rtl_mission), self.GetBanner,
self.DO_SET_MODE,
("DriveMission", self.ServoRelayEvents,
"Drive Mission %s" % "balancebot1.txt", self.LogUpload,
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),
]) ])
return ret return ret

165
Tools/autotest/common.py
View File

@ -1435,9 +1435,11 @@ class LocationInt(object):
class Test(object): class Test(object):
'''a test definition - information about a test''' '''a test definition - information about a test'''
def __init__(self, name, description, function, attempts=1, speedup=None): def __init__(self, function, attempts=1, speedup=None):
self.name = name self.name = function.__name__
self.description = description self.description = function.__doc__
if self.description is None:
raise ValueError("%s is missing a docstring" % self.name)
self.function = function self.function = function
self.attempts = attempts self.attempts = attempts
self.speedup = speedup self.speedup = speedup
@ -2432,8 +2434,8 @@ class AutoTest(ABC):
return ids return ids
def test_onboard_logging_generation(self): def LoggerDocumentation(self):
'''just generates, as we can't do a lot of testing''' '''Test Onboard Logging Generation'''
xml_filepath = os.path.join(self.buildlogs_dirpath(), "LogMessages.xml") xml_filepath = os.path.join(self.buildlogs_dirpath(), "LogMessages.xml")
parse_filepath = os.path.join(self.rootdir(), 'Tools', 'autotest', 'logger_metadata', 'parse.py') parse_filepath = os.path.join(self.rootdir(), 'Tools', 'autotest', 'logger_metadata', 'parse.py')
try: try:
@ -3036,7 +3038,8 @@ class AutoTest(ABC):
if ex is not None: if ex is not None:
raise ex raise ex
def test_log_download(self): def LogDownload(self):
'''Test Onboard Log Download'''
if self.is_tracker(): if self.is_tracker():
# tracker starts armed, which is annoying # tracker starts armed, which is annoying
return return
@ -3625,14 +3628,15 @@ class AutoTest(ABC):
if len(post_arming_list) <= len(pre_arming_list): if len(post_arming_list) <= len(pre_arming_list):
raise NotAchievedException("Did not get a log on forced arm") 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(): if self.is_tracker():
return return
self.onboard_logging_forced_arm() self.onboard_logging_forced_arm()
self.onboard_logging_log_disarmed() self.onboard_logging_log_disarmed()
self.onboard_logging_not_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.""" """Download latest log."""
filename = "MAVProxy-downloaded-log.BIN" filename = "MAVProxy-downloaded-log.BIN"
mavproxy = self.start_mavproxy() mavproxy = self.start_mavproxy()
@ -3647,7 +3651,8 @@ class AutoTest(ABC):
self.mavproxy_unload_module(mavproxy, 'log') self.mavproxy_unload_module(mavproxy, 'log')
self.stop_mavproxy(mavproxy) 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") self.progress("Log upload disabled as CI artifacts are good")
return return
if len(self.fail_list) > 0 and os.getenv("AUTOTEST_UPLOAD"): if len(self.fail_list) > 0 and os.getenv("AUTOTEST_UPLOAD"):
@ -4687,7 +4692,8 @@ class AutoTest(ABC):
return return
def CPUFailsafe(self): 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 # customising the SITL commandline ensures the process will
# get stopped/started at the end of the test # get stopped/started at the end of the test
if self.frame is None: if self.frame is None:
@ -5487,7 +5493,8 @@ class AutoTest(ABC):
m = self.assert_receive_message('AUTOPILOT_VERSION', timeout=10) m = self.assert_receive_message('AUTOPILOT_VERSION', timeout=10)
return m.capabilities 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_PARAM_FLOAT)
self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION) 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)" % self.progress("GroundSpeed OK (got=%f) (want=%f)" %
(m.groundspeed, want)) (m.groundspeed, want))
def fly_test_set_home(self): def SetHome(self):
'''Setting and fetching of home'''
if self.is_tracker(): if self.is_tracker():
# tracker starts armed... # tracker starts armed...
self.disarm_vehicle(force=True) 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): for count in range(2, compass_count + 1):
self.verify_parameter_values({"COMPASS_ORIENT%d" % count: 0}) 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): def reset_pos_and_start_magcal(mavproxy, tmask):
mavproxy.send("sitl_stop\n") mavproxy.send("sitl_stop\n")
mavproxy.send("sitl_attitude 0 0 0\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)" % raise NotAchievedException("%s has wrong value; want=%f got=%f transforms=%s (old parameter name=%s)" %
(newkey, expected_value, current_value, str(transforms), key)) (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() self.context_push()
ex = None ex = None
try: try:
@ -8444,7 +8455,10 @@ Also, ignores heartbeats not from our target system'''
if ex is not None: if ex is not None:
raise ex 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() self.context_push()
ex = None ex = None
try: try:
@ -8537,7 +8551,8 @@ Also, ignores heartbeats not from our target system'''
if ex is not None: if ex is not None:
raise ex raise ex
def test_dataflash_over_mavlink(self): def DataFlashOverMAVLink(self):
'''Test DataFlash over MAVLink'''
self.context_push() self.context_push()
ex = None ex = None
mavproxy = self.start_mavproxy() mavproxy = self.start_mavproxy()
@ -8602,8 +8617,8 @@ Also, ignores heartbeats not from our target system'''
if ex is not None: if ex is not None:
raise ex raise ex
def test_dataflash_sitl(self): def DataFlash(self):
"""Test the basic functionality of block logging""" """Test DataFlash SITL backend"""
self.context_push() self.context_push()
ex = None ex = None
mavproxy = self.start_mavproxy() mavproxy = self.start_mavproxy()
@ -8699,7 +8714,7 @@ Also, ignores heartbeats not from our target system'''
if herrors > header_errors: if herrors > header_errors:
raise NotAchievedException("Error parsing log file %s, %d header errors" % (logname, herrors)) 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""" """Test that erasing the dataflash chip and creating a new log is error free"""
mavproxy = self.start_mavproxy() mavproxy = self.start_mavproxy()
@ -8781,8 +8796,8 @@ Also, ignores heartbeats not from our target system'''
if ex is not None: if ex is not None:
raise ex raise ex
def test_arm_feature(self): def ArmFeatures(self):
"""Common feature to test.""" '''Arm features'''
# TEST ARMING/DISARM # TEST ARMING/DISARM
if self.get_parameter("ARMING_CHECK") != 1.0 and not self.is_sub(): if self.get_parameter("ARMING_CHECK") != 1.0 and not self.is_sub():
raise ValueError("Arming check should be 1") 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: if notachieved_ex is not None:
raise notachieved_ex 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.start_subtest('Basic tests')
self.test_set_message_interval_basic() self.test_set_message_interval_basic()
self.start_subtest('Many-message tests') self.start_subtest('Many-message tests')
@ -9322,7 +9338,8 @@ Also, ignores heartbeats not from our target system'''
return msgs 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)) rate = round(self.get_message_rate("CAMERA_FEEDBACK", 10))
if rate != 0: if rate != 0:
raise PreconditionFailedException("Receiving camera feedback") raise PreconditionFailedException("Receiving camera feedback")
@ -9373,7 +9390,8 @@ Also, ignores heartbeats not from our target system'''
def clear_fence(self): def clear_fence(self):
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) 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''' '''test the sensor config error loop works and that parameter sets are persistent'''
parameter_name = "SERVO8_MIN" parameter_name = "SERVO8_MIN"
old_parameter_value = self.get_parameter(parameter_name) 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: if self.get_parameter(parameter_name) != new_parameter_value:
raise NotAchievedException("Parameter value did not stick") raise NotAchievedException("Parameter value did not stick")
def test_initial_mode(self): def InitialMode(self):
'''Test initial mode switching'''
if self.is_copter(): if self.is_copter():
init_mode = (9, "LAND") init_mode = (9, "LAND")
if self.is_rover(): if self.is_rover():
@ -9438,7 +9457,8 @@ Also, ignores heartbeats not from our target system'''
self.context_pop() self.context_pop()
self.reboot_sitl() self.reboot_sitl()
def test_gripper(self): def Gripper(self):
'''Test gripper'''
self.context_push() self.context_push()
self.set_parameters({ self.set_parameters({
"GRIP_ENABLE": 1, "GRIP_ENABLE": 1,
@ -9589,7 +9609,7 @@ Also, ignores heartbeats not from our target system'''
self.install_message_hook_context(check_terrain_requests) 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.""" """Test set position message in guided mode."""
# Disable heading and yaw test on rover type # 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.do_RTL(distance_min=0, distance_max=wp_accuracy)
self.disarm_vehicle() self.disarm_vehicle()
def test_set_velocity_global_int(self, timeout=30): def SetpointGlobalVel(self, timeout=30):
"""Test set position message in guided mode.""" """Test set position message in guided mode."""
# Disable heading and yaw rate test on rover type # Disable heading and yaw rate test on rover type
if self.is_rover(): if self.is_rover():
@ -10539,7 +10559,7 @@ switch value'''
self.start_subsubtest("Check all parameters are documented") self.start_subsubtest("Check all parameters are documented")
self.test_parameter_documentation_get_all_parameters() self.test_parameter_documentation_get_all_parameters()
def test_parameters(self): def Parameters(self):
'''general small tests for parameter system''' '''general small tests for parameter system'''
if self.is_balancebot(): if self.is_balancebot():
# same binary and parameters as Rover # same binary and parameters as Rover
@ -10586,7 +10606,8 @@ switch value'''
if m is not None: if m is not None:
raise PreconditionFailedException("Receiving %s messags" % message) 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.assert_not_receiving_message('PID_TUNING', timeout=5)
self.set_parameter("GCS_PID_MASK", 1) self.set_parameter("GCS_PID_MASK", 1)
self.progress("making sure we are now getting PID_TUNING messages") self.progress("making sure we are now getting PID_TUNING messages")
@ -10595,7 +10616,8 @@ switch value'''
def sample_mission_filename(self): def sample_mission_filename(self):
return "flaps.txt" return "flaps.txt"
def test_advanced_failsafe(self): def AdvancedFailsafe(self):
'''Test Advanced Failsafe'''
self.context_push() self.context_push()
ex = None ex = None
try: try:
@ -10680,7 +10702,8 @@ switch value'''
if m.fix_type >= fix_type: if m.fix_type >= fix_type:
break 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("SERIAL5_PROTOCOL", 20) # serial5 is NMEA output
self.set_parameter("GPS_TYPE2", 5) # GPS2 is NMEA self.set_parameter("GPS_TYPE2", 5) # GPS2 is NMEA
self.customise_SITL_commandline([ self.customise_SITL_commandline([
@ -10718,7 +10741,8 @@ switch value'''
mavproxy.send("module unload %s\n" % module) mavproxy.send("module unload %s\n" % module)
mavproxy.expect("Unloaded module %s" % module) mavproxy.expect("Unloaded module %s" % module)
def accelcal(self): def AccelCal(self):
'''Accelerometer Calibration testing'''
ex = None ex = None
mavproxy = self.start_mavproxy() mavproxy = self.start_mavproxy()
try: try:
@ -10872,14 +10896,16 @@ switch value'''
self.context_pop() self.context_pop()
self.reboot_sitl() self.reboot_sitl()
def ahrstrim(self): def AHRSTrim(self):
'''AHRS trim testing'''
self.start_subtest("Attitude Correctness") self.start_subtest("Attitude Correctness")
self.ahrstrim_attitude_correctness() self.ahrstrim_attitude_correctness()
self.delay_sim_time(5) self.delay_sim_time(5)
self.start_subtest("Preflight Calibration") self.start_subtest("Preflight Calibration")
self.ahrstrim_preflight_cal() self.ahrstrim_preflight_cal()
def test_button(self): def Button(self):
'''Test Buttons'''
self.set_parameter("SIM_PIN_MASK", 0) self.set_parameter("SIM_PIN_MASK", 0)
self.set_parameter("BTN_ENABLE", 1) self.set_parameter("BTN_ENABLE", 1)
self.drain_mav() self.drain_mav()
@ -11530,7 +11556,8 @@ switch value'''
"Did not receive expected result in command_ack; want=%u got=%u" % "Did not receive expected result in command_ack; want=%u got=%u" %
(want_result, got_result)) (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.set_parameter("SERIAL5_PROTOCOL", 10) # serial5 is FRSky passthrough
self.customise_SITL_commandline([ self.customise_SITL_commandline([
"--uartF=tcp:6735" # serial5 spews to localhost:6735 "--uartF=tcp:6735" # serial5 spews to localhost:6735
@ -11802,7 +11829,8 @@ switch value'''
if rpm.rpm1 >= min_rpm: if rpm.rpm1 >= min_rpm:
return 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("SERIAL5_PROTOCOL", 4) # serial5 is FRSky sport
self.set_parameter("RPM1_TYPE", 10) # enable SITL RPM sensor self.set_parameter("RPM1_TYPE", 10) # enable SITL RPM sensor
self.customise_SITL_commandline([ self.customise_SITL_commandline([
@ -11874,7 +11902,8 @@ switch value'''
self.zero_throttle() self.zero_throttle()
self.disarm_vehicle(force=True) 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.set_parameter("SERIAL5_PROTOCOL", 3) # serial5 is FRSky output
self.customise_SITL_commandline([ self.customise_SITL_commandline([
"--uartF=tcp:6735" # serial5 spews to localhost:6735 "--uartF=tcp:6735" # serial5 spews to localhost:6735
@ -11995,7 +12024,8 @@ switch value'''
# FIXME. Actually check the field values are correct :-) # FIXME. Actually check the field values are correct :-)
return True return True
def test_ltm(self): def LTM(self):
'''Test LTM serial output'''
self.set_parameter("SERIAL5_PROTOCOL", 25) # serial5 is LTM output self.set_parameter("SERIAL5_PROTOCOL", 25) # serial5 is LTM output
self.customise_SITL_commandline([ self.customise_SITL_commandline([
"--uartF=tcp:6735" # serial5 spews to localhost:6735 "--uartF=tcp:6735" # serial5 spews to localhost:6735
@ -12036,6 +12066,7 @@ switch value'''
return math.trunc(dd * 1.0e7) return math.trunc(dd * 1.0e7)
def DEVO(self): def DEVO(self):
'''Test DEVO serial output'''
self.context_push() self.context_push()
self.set_parameter("SERIAL5_PROTOCOL", 17) # serial5 is DEVO output self.set_parameter("SERIAL5_PROTOCOL", 17) # serial5 is DEVO output
self.customise_SITL_commandline([ self.customise_SITL_commandline([
@ -12106,7 +12137,8 @@ switch value'''
self.context_pop() self.context_pop()
self.reboot_sitl() 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("SERIAL5_PROTOCOL", 33) # serial5 is MSP DJI output
self.set_parameter("MSP_OPTIONS", 1) # telemetry (unpolled) mode self.set_parameter("MSP_OPTIONS", 1) # telemetry (unpolled) mode
self.customise_SITL_commandline([ self.customise_SITL_commandline([
@ -12130,7 +12162,8 @@ switch value'''
if dist < 1: if dist < 1:
break break
def test_crsf(self): def CRSF(self):
'''Test RC CRSF'''
self.context_push() self.context_push()
ex = None ex = None
try: try:
@ -12343,43 +12376,16 @@ switch value'''
def tests(self): def tests(self):
return [ return [
Test("PIDTuning", self.PIDTuning,
"Test PID Tuning", self.ArmFeatures,
self.test_pid_tuning), self.SetHome,
self.ConfigErrorLoop,
Test("ArmFeatures", "Arm features", self.test_arm_feature), self.CPUFailsafe,
self.Parameters,
Test("SetHome", self.LoggerDocumentation,
"Test Set Home", self.Logging,
self.fly_test_set_home), self.GetCapabilities,
self.InitialMode,
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),
] ]
def post_tests_announcements(self): def post_tests_announcements(self):
@ -12404,8 +12410,7 @@ switch value'''
if type(test) == Test: if type(test) == Test:
all_tests.append(test) all_tests.append(test)
continue continue
(name, desc, func) = test actual_test = Test(test)
actual_test = Test(name, desc, func)
all_tests.append(actual_test) all_tests.append(actual_test)
disabled = self.disabled_tests() disabled = self.disabled_tests()

67
Tools/autotest/helicopter.py
View File

@ -57,7 +57,8 @@ class AutoTestHelicopter(AutoTestCopter):
chan_pwm = (servo.servo1_raw + servo.servo2_raw + servo.servo3_raw)/3.0 chan_pwm = (servo.servo1_raw + servo.servo2_raw + servo.servo3_raw)/3.0
return chan_pwm return chan_pwm
def rotor_runup_complete_checks(self): def RotorRunup(self):
'''Test rotor runip'''
# Takeoff and landing in Loiter # Takeoff and landing in Loiter
TARGET_RUNUP_TIME = 10 TARGET_RUNUP_TIME = 10
self.zero_throttle() self.zero_throttle()
@ -91,8 +92,8 @@ class AutoTestHelicopter(AutoTestCopter):
self.mav.wait_heartbeat() self.mav.wait_heartbeat()
# fly_avc_test - fly AVC mission # fly_avc_test - fly AVC mission
def fly_avc_test(self): def AVCMission(self):
# Arm '''fly AVC mission'''
self.change_mode('STABILIZE') self.change_mode('STABILIZE')
self.wait_ready_to_arm() self.wait_ready_to_arm()
@ -159,7 +160,8 @@ class AutoTestHelicopter(AutoTestCopter):
self.hover() self.hover()
self.progress("TAKEOFF COMPLETE") self.progress("TAKEOFF COMPLETE")
def fly_each_frame(self): def FlyEachFrame(self):
'''Fly each supported internal frame'''
vinfo = vehicleinfo.VehicleInfo() vinfo = vehicleinfo.VehicleInfo()
vinfo_options = vinfo.options[self.vehicleinfo_key()] vinfo_options = vinfo.options[self.vehicleinfo_key()]
known_broken_frames = { known_broken_frames = {
@ -196,7 +198,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.progress("Setting hover collective") self.progress("Setting hover collective")
self.set_rc(3, 1500) self.set_rc(3, 1500)
def fly_heli_poshold_takeoff(self): def PosHoldTakeOff(self):
"""ensure vehicle stays put until it is ready to fly""" """ensure vehicle stays put until it is ready to fly"""
self.context_push() self.context_push()
@ -258,8 +260,8 @@ class AutoTestHelicopter(AutoTestCopter):
if ex is not None: if ex is not None:
raise ex raise ex
def fly_heli_stabilize_takeoff(self): def StabilizeTakeOff(self):
"""""" """Fly stabilize takeoff"""
self.context_push() self.context_push()
ex = None ex = None
@ -296,7 +298,7 @@ class AutoTestHelicopter(AutoTestCopter):
if ex is not None: if ex is not None:
raise ex raise ex
def fly_spline_waypoint(self, timeout=600): def SplineWaypoint(self, timeout=600):
"""ensure basic spline functionality works""" """ensure basic spline functionality works"""
self.load_mission("copter_spline_mission.txt", strict=False) self.load_mission("copter_spline_mission.txt", strict=False)
self.change_mode("LOITER") self.change_mode("LOITER")
@ -317,8 +319,8 @@ class AutoTestHelicopter(AutoTestCopter):
self.progress("Lowering rotor speed") self.progress("Lowering rotor speed")
self.set_rc(8, 1000) self.set_rc(8, 1000)
def fly_autorotation(self, timeout=600): def AutoRotation(self, timeout=600):
"""ensure basic spline functionality works""" """Check engine-out behaviour"""
self.set_parameter("AROT_ENABLE", 1) self.set_parameter("AROT_ENABLE", 1)
start_alt = 100 # metres start_alt = 100 # metres
self.set_parameter("PILOT_TKOFF_ALT", start_alt * 100) self.set_parameter("PILOT_TKOFF_ALT", start_alt * 100)
@ -368,7 +370,8 @@ class AutoTestHelicopter(AutoTestCopter):
self.set_rc(8, 1000) # Lower rotor speed self.set_rc(8, 1000) # Lower rotor speed
# FIXME move this & plane's version to common # 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 # 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 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''' '''return list of all tests'''
ret = AutoTest.tests(self) ret = AutoTest.tests(self)
ret.extend([ ret.extend([
("AVCMission", "Fly AVC mission", self.fly_avc_test), self.AVCMission,
self.RotorRunup,
("RotorRunUp", self.PosHoldTakeOff,
"Test rotor runup", self.StabilizeTakeOff,
self.rotor_runup_complete_checks), self.SplineWaypoint,
self.AutoRotation,
("PosHoldTakeOff", self.FlyEachFrame,
"Fly POSHOLD takeoff", self.LogUpload,
self.fly_heli_poshold_takeoff), self.AirspeedDrivers,
("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),
]) ])
return ret return ret

122
Tools/autotest/quadplane.py
View File

@ -88,7 +88,7 @@ class AutoTestQuadPlane(AutoTest):
def set_autodisarm_delay(self, delay): def set_autodisarm_delay(self, delay):
self.set_parameter("LAND_DISARMDELAY", 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""" """Check that plane.air_mode turns on and off as required"""
self.progress("########## Testing AirMode operation") self.progress("########## Testing AirMode operation")
self.set_parameter("AHRS_EKF_TYPE", 10) self.set_parameter("AHRS_EKF_TYPE", 10)
@ -255,7 +255,7 @@ class AutoTestQuadPlane(AutoTest):
self.disarm_vehicle(force=True) self.disarm_vehicle(force=True)
self.wait_ready_to_arm() self.wait_ready_to_arm()
def test_motor_mask(self): def TestMotorMask(self):
"""Check operation of output_motor_mask""" """Check operation of output_motor_mask"""
"""copter tailsitters will add condition: or (int(self.get_parameter('Q_TAILSIT_MOTMX')) & 1)""" """copter tailsitters will add condition: or (int(self.get_parameter('Q_TAILSIT_MOTMX')) & 1)"""
if not(int(self.get_parameter('Q_TILT_MASK')) & 1): if not(int(self.get_parameter('Q_TILT_MASK')) & 1):
@ -406,6 +406,7 @@ class AutoTestQuadPlane(AutoTest):
self.mav.motors_disarmed_wait() self.mav.motors_disarmed_wait()
def EXTENDED_SYS_STATE(self): def EXTENDED_SYS_STATE(self):
'''Check extended sys state works'''
self.EXTENDED_SYS_STATE_SLT() self.EXTENDED_SYS_STATE_SLT()
def fly_qautotune(self): def fly_qautotune(self):
@ -566,7 +567,7 @@ class AutoTestQuadPlane(AutoTest):
return freq return freq
def fly_gyro_fft(self): def GyroFFT(self):
"""Use dynamic harmonic notch to control motor noise.""" """Use dynamic harmonic notch to control motor noise."""
# basic gyro sample rate test # basic gyro sample rate test
self.progress("Flying with gyro FFT - Gyro sample rate") self.progress("Flying with gyro FFT - Gyro sample rate")
@ -677,11 +678,13 @@ class AutoTestQuadPlane(AutoTest):
if ex is not None: if ex is not None:
raise ex raise ex
def test_pid_tuning(self): def PIDTuning(self):
'''Test PID Tuning'''
self.change_mode("FBWA") # we don't update PIDs in MANUAL 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") self.test_parameter_checks_poscontrol("Q_P")
def rc_defaults(self): def rc_defaults(self):
@ -701,6 +704,7 @@ class AutoTestQuadPlane(AutoTest):
} }
def BootInAUTO(self): def BootInAUTO(self):
'''Test behaviour when booting in auto'''
self.load_mission("mission.txt") self.load_mission("mission.txt")
self.set_parameters({ self.set_parameters({
}) })
@ -722,7 +726,8 @@ class AutoTestQuadPlane(AutoTest):
self.change_mode('QLAND') self.change_mode('QLAND')
self.wait_disarmed(timeout=60) 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.takeoff(10, mode="QLOITER")
self.set_parameter("STICK_MIXING", 0) self.set_parameter("STICK_MIXING", 0)
self.set_rc(4, 1700) self.set_rc(4, 1700)
@ -734,7 +739,8 @@ class AutoTestQuadPlane(AutoTest):
self.set_rc(4, 1500) self.set_rc(4, 1500)
self.do_RTL() 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, # 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. # so we shall test the side into wind yaw direction and plane code paths here.
self.set_parameters({"SIM_WIND_SPD": 10, self.set_parameters({"SIM_WIND_SPD": 10,
@ -759,7 +765,8 @@ class AutoTestQuadPlane(AutoTest):
'''In lockup Plane should copy RC inputs to RC outputs''' '''In lockup Plane should copy RC inputs to RC outputs'''
self.plane_CPUFailsafe() self.plane_CPUFailsafe()
def test_qassist(self): def QAssist(self):
'''QuadPlane Assist tests'''
# find a motor peak # find a motor peak
self.takeoff(10, mode="QHOVER") self.takeoff(10, mode="QHOVER")
self.set_rc(3, 1800) self.set_rc(3, 1800)
@ -812,7 +819,7 @@ class AutoTestQuadPlane(AutoTest):
self.change_mode("RTL") self.change_mode("RTL")
self.wait_disarmed(timeout=300) self.wait_disarmed(timeout=300)
def tailsitter(self): def Tailsitter(self):
'''tailsitter test''' '''tailsitter test'''
self.set_parameter('Q_FRAME_CLASS', 10) self.set_parameter('Q_FRAME_CLASS', 10)
self.set_parameter('Q_ENABLE', 1) self.set_parameter('Q_ENABLE', 1)
@ -835,6 +842,7 @@ class AutoTestQuadPlane(AutoTest):
self.disarm_vehicle() self.disarm_vehicle()
def ICEngine(self): def ICEngine(self):
'''Test ICE Engine support'''
rc_engine_start_chan = 11 rc_engine_start_chan = 11
self.set_parameters({ self.set_parameters({
'SERVO13_FUNCTION': 67, # ignition 'SERVO13_FUNCTION': 67, # ignition
@ -870,6 +878,7 @@ class AutoTestQuadPlane(AutoTest):
self.reboot_sitl() self.reboot_sitl()
def ICEngineMission(self): def ICEngineMission(self):
'''Test ICE Engine Mission support'''
rc_engine_start_chan = 11 rc_engine_start_chan = 11
self.set_parameters({ self.set_parameters({
'SERVO13_FUNCTION': 67, # ignition 'SERVO13_FUNCTION': 67, # ignition
@ -887,6 +896,7 @@ class AutoTestQuadPlane(AutoTest):
self.wait_disarmed(timeout=300) self.wait_disarmed(timeout=300)
def Ship(self): def Ship(self):
'''Ensure we can take off from simulated ship'''
self.context_push() self.context_push()
self.set_parameters({ self.set_parameters({
'SIM_SHIP_ENABLE': 1, 'SIM_SHIP_ENABLE': 1,
@ -906,6 +916,7 @@ class AutoTestQuadPlane(AutoTest):
self.reboot_sitl() self.reboot_sitl()
def MidAirDisarmDisallowed(self): def MidAirDisarmDisallowed(self):
'''Check disarm behaviour in Q-mode'''
self.start_subtest("Basic arm in qloiter") self.start_subtest("Basic arm in qloiter")
self.set_parameter("FLIGHT_OPTIONS", 0) self.set_parameter("FLIGHT_OPTIONS", 0)
self.change_mode('QLOITER') 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.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_EXTENDED_SYS_STATE, -1)
self.disarm_vehicle() 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): def tests(self):
'''return list of all tests''' '''return list of all tests'''
ret = super(AutoTestQuadPlane, self).tests() ret = super(AutoTestQuadPlane, self).tests()
ret.extend([ ret.extend([
("TestAirMode", "Test airmode", self.test_airmode), self.AirMode,
self.TestMotorMask,
("TestMotorMask", "Test output_motor_mask", self.test_motor_mask), self.PilotYaw,
self.ParameterChecks,
("PilotYaw", self.LogDownload,
"Test pilot yaw in various modes", self.EXTENDED_SYS_STATE,
self.test_pilot_yaw), self.Mission,
self.Weathervane,
("ParameterChecks", self.QAssist,
"Test Arming Parameter Checks", self.GyroFFT,
self.test_parameter_checks), self.Tailsitter,
self.ICEngine,
("TestLogDownload", self.ICEngineMission,
"Test Onboard Log Download", self.MidAirDisarmDisallowed,
self.test_log_download), self.BootInAUTO,
self.Ship,
("EXTENDED_SYS_STATE", self.LogUpload,
"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),
]) ])
return ret return ret

461
Tools/autotest/rover.py
View File

@ -83,8 +83,8 @@ class AutoTestRover(AutoTest):
# TESTS DRIVE # TESTS DRIVE
########################################################## ##########################################################
# Drive a square in manual mode # Drive a square in manual mode
def drive_square(self, side=50): def DriveSquare(self, side=50):
"""Drive a square, Driving N then E .""" """Learn/Drive Square with Ch7 option"""
self.context_push() self.context_push()
ex = None ex = None
@ -235,7 +235,7 @@ class AutoTestRover(AutoTest):
# "timed out after %u seconds" % timeout) # "timed out after %u seconds" % timeout)
# return False # return False
def test_sprayer(self): def Sprayer(self):
"""Test sprayer functionality.""" """Test sprayer functionality."""
self.context_push() self.context_push()
ex = None ex = None
@ -354,8 +354,8 @@ class AutoTestRover(AutoTest):
if ex: if ex:
raise ex raise ex
def drive_max_rcin(self, timeout=30): def DriveMaxRCIN(self, timeout=30):
"""Test max RC inputs""" """Drive rover at max RC inputs"""
self.context_push() self.context_push()
ex = None ex = None
@ -404,7 +404,12 @@ class AutoTestRover(AutoTest):
self.disarm_vehicle() self.disarm_vehicle()
self.progress("Mission OK") 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.load_mission("rover-gripper-mission.txt")
self.change_mode('AUTO') self.change_mode('AUTO')
self.wait_ready_to_arm() self.wait_ready_to_arm()
@ -415,7 +420,8 @@ class AutoTestRover(AutoTest):
self.wait_statustext("Mission Complete", timeout=60, check_context=True) self.wait_statustext("Mission Complete", timeout=60, check_context=True)
self.disarm_vehicle() self.disarm_vehicle()
def do_get_banner(self): def GetBanner(self):
'''Get Banner'''
target_sysid = self.sysid_thismav() target_sysid = self.sysid_thismav()
target_compid = 1 target_compid = 1
self.mav.mav.command_long_send( self.mav.mav.command_long_send(
@ -480,7 +486,8 @@ class AutoTestRover(AutoTest):
return delta return delta
def drive_brake(self): def DriveBrake(self):
'''Test braking'''
self.set_parameters({ self.set_parameters({
'CRUISE_SPEED': 15, 'CRUISE_SPEED': 15,
'ATC_BRAKE': 0, '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''' '''maximum distance allowed from home at end'''
return 6.5 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.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
@ -564,7 +572,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.disarm_vehicle() self.disarm_vehicle()
self.progress("RTL Mission OK (%fm)" % home_distance) 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() self.context_push()
ex = None ex = None
try: try:
@ -602,7 +611,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
if ex: if ex:
raise ex raise ex
def test_servorelayevents(self): def ServoRelayEvents(self):
'''Test ServoRelayEvents'''
self.do_set_relay(0, 0) self.do_set_relay(0, 0)
off = self.get_parameter("SIM_PIN_MASK") off = self.get_parameter("SIM_PIN_MASK")
self.do_set_relay(0, 1) 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") "Pin mask unchanged after relay cmd")
self.progress("Pin mask changed after relay command") 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([ self.customise_SITL_commandline([
"--rc-in-port", "5502", "--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: if ex is not None:
raise ex raise ex
def test_setting_modes_via_mavproxy_mode_command(self): def MAVProxy_SetModeUsingMode(self):
'''Set modes via mavproxy mode command'''
fnoo = [(1, 'ACRO'), fnoo = [(1, 'ACRO'),
(3, 'STEERING'), (3, 'STEERING'),
(4, 'HOLD'), (4, 'HOLD'),
@ -660,8 +672,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.wait_mode(expected) self.wait_mode(expected)
self.stop_mavproxy(mavproxy) self.stop_mavproxy(mavproxy)
def test_setting_modes_via_modeswitch(self): def ModeSwitch(self):
# test setting of modes through mode switch ''''Set modes via modeswitch'''
self.context_push() self.context_push()
ex = None ex = None
try: try:
@ -688,7 +700,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
if ex is not None: if ex is not None:
raise ex raise ex
def test_setting_modes_via_auxswitches(self): def AuxModeSwitch(self):
'''Set modes via auxswitches'''
self.context_push() self.context_push()
ex = None ex = None
try: try:
@ -731,7 +744,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
if ex is not None: if ex is not None:
raise ex 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.set_parameter("SYSID_MYGCS", self.mav.source_system)
self.change_mode('MANUAL') self.change_mode('MANUAL')
self.wait_ready_to_arm() self.wait_ready_to_arm()
@ -801,7 +815,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
break break
self.disarm_vehicle() self.disarm_vehicle()
def test_rc_overrides(self): def RCOverrides(self):
'''Test RC overrides'''
self.context_push() self.context_push()
self.set_parameter("SYSID_MYGCS", self.mav.source_system) self.set_parameter("SYSID_MYGCS", self.mav.source_system)
ex = None ex = None
@ -1044,7 +1059,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
if ex is not None: if ex is not None:
raise ex raise ex
def test_manual_control(self): def MANUAL_CONTROL(self):
'''Test mavlink MANUAL_CONTROL'''
self.context_push() self.context_push()
self.set_parameter("SYSID_MYGCS", self.mav.source_system) self.set_parameter("SYSID_MYGCS", self.mav.source_system)
ex = None ex = None
@ -1134,6 +1150,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
raise ex raise ex
def CameraMission(self): def CameraMission(self):
'''Test Camera Mission Items'''
self.load_mission("rover-camera-mission.txt") self.load_mission("rover-camera-mission.txt")
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.change_mode("AUTO") self.change_mode("AUTO")
@ -1170,17 +1187,20 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.disarm_vehicle() 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("HOLD")
self.do_set_mode_via_command_long("MANUAL") 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() mavproxy = self.start_mavproxy()
self.mavproxy_do_set_mode_via_command_long(mavproxy, "HOLD") self.mavproxy_do_set_mode_via_command_long(mavproxy, "HOLD")
self.mavproxy_do_set_mode_via_command_long(mavproxy, "MANUAL") self.mavproxy_do_set_mode_via_command_long(mavproxy, "MANUAL")
self.stop_mavproxy(mavproxy) 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''' '''Run the same arming code with correct then incorrect SYSID'''
if self.mav.source_system != self.mav.mav.srcSystem: 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 raise ex
def Rally(self): def Rally(self):
'''Test Rally Points'''
self.load_rally("rover-test-rally.txt") self.load_rally("rover-test-rally.txt")
self.wait_ready_to_arm() 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 # 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_system = 1
target_component = 1 target_component = 1
@ -2154,8 +2176,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
# exclusion zones) # exclusion zones)
# FIXME: add test that a fence with edges that cross can't be uploaded # 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! # FIXME: add a test that fences enclose an area (e.g. all the points aren't the same value!
def Offboard(self, timeout=90):
def test_offboard(self, timeout=90): '''Test Offboard Control'''
self.load_mission("rover-guided-mission.txt") self.load_mission("rover-guided-mission.txt")
self.wait_ready_to_arm(require_absolute=True) self.wait_ready_to_arm(require_absolute=True)
self.arm_vehicle() 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, 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") self.start_subtest("Testing mavproxy CLI for rally points")
if not self.mavproxy_can_do_mision_item_protocols(): if not self.mavproxy_can_do_mision_item_protocols():
return 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 # 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 old_srcSystem = self.mav.mav.srcSystem
self.drain_mav() self.drain_mav()
@ -3428,7 +3450,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
raise e raise e
self.reboot_sitl() self.reboot_sitl()
def test_gcs_mission(self): def GCSMission(self):
'''check MAVProxy's waypoint handling of missions''' '''check MAVProxy's waypoint handling of missions'''
target_system = 1 target_system = 1
target_component = 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)" % raise NotAchievedException("Items did not survive reboot (want=%u got=%u)" %
(8, downloaded_len)) (8, downloaded_len))
def test_poly_fence(self): def PolyFence(self):
'''test fence-related functions''' '''test fence-related functions'''
target_system = 1 target_system = 1
target_component = 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_system=target_system,
target_component=target_component) target_component=target_component)
def drive_smartrtl(self): def SmartRTL(self):
'''Test SmartRTL'''
self.change_mode("STEERING") self.change_mode("STEERING")
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
@ -4562,8 +4585,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.disarm_vehicle() self.disarm_vehicle()
def test_motor_test(self): def MotorTest(self):
'''AKA run-rover-run''' '''Motor Test triggered via mavlink'''
magic_throttle_value = 1812 magic_throttle_value = 1812
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.run_cmd( 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: if ex is not None:
raise ex raise ex
def test_wheelencoders(self): def WheelEncoders(self):
'''make sure wheel encoders are generally working''' '''make sure wheel encoders are generally working'''
ex = None ex = None
try: try:
@ -4810,7 +4833,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.change_mode("RTL") self.change_mode("RTL")
self.wait_distance_to_home(distance_min, distance_max, timeout=timeout) 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.change_mode("LOITER")
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() 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: if ex is not None:
raise ex 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(): if not self.mavproxy_can_do_mision_item_protocols():
return return
self.test_poly_fence_object_avoidance_auto_bendy_ruler_easier( 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: if ex is not None:
raise ex 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(): if not self.mavproxy_can_do_mision_item_protocols():
return return
@ -4966,7 +4992,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
target_system=target_system, target_system=target_system,
target_component=target_component) 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(): if not self.mavproxy_can_do_mision_item_protocols():
return return
# bendy Ruler isn't as flexible as Dijkstra for planning, so # 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: if ex is not None:
raise ex raise ex
def test_scripting_steering_and_throttle(self): def ScriptingSteeringAndThrottle(self):
'''Scripting test - steering and throttle'''
self.start_subtest("Scripting square") self.start_subtest("Scripting square")
ex = None ex = None
example_script = "rover-set-steering-and-throttle.lua" 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: if ex is not None:
raise ex raise ex
def test_scripting(self): def Scripting(self):
'''Scripting test'''
self.test_scripting_set_home_to_vehicle_location() self.test_scripting_set_home_to_vehicle_location()
self.test_scripting_print_home_and_origin() self.test_scripting_print_home_and_origin()
self.test_scripting_hello_world() 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) 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, for frame in (mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT_INT,
mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT, mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT,
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, 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") self.progress("Have now seen all expected messages")
break break
def ap_proximity_mav(self): def AP_Proximity_MAV(self):
'''Test MAV proximity backend'''
self.context_push() self.context_push()
ex = None ex = None
try: try:
@ -5391,7 +5422,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
if ex is not None: if ex is not None:
raise ex 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") self.progress("Introducing ourselves to the autopilot as a component")
old_srcSystem = self.mav.mav.srcSystem old_srcSystem = self.mav.mav.srcSystem
self.mav.mav.srcSystem = 1 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") raise NotAchievedException("Did not get correct command_id")
break break
def test_skid_steer(self): def SkidSteer(self):
'''Check skid-steering'''
model = "rover-skid" model = "rover-skid"
self.customise_SITL_commandline([], 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.zero_throttle()
self.disarm_vehicle() self.disarm_vehicle()
def test_slew_rate(self): def SlewRate(self):
"""Test Motor Slew Rate feature.""" """Test Motor Slew Rate feature."""
self.context_push() self.context_push()
self.change_mode("MANUAL") self.change_mode("MANUAL")
@ -5538,6 +5571,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.context_pop() self.context_pop()
def SET_ATTITUDE_TARGET(self, target_sysid=None, target_compid=1): def SET_ATTITUDE_TARGET(self, target_sysid=None, target_compid=1):
'''Test handling of SET_ATTITUDE_TARGET'''
if target_sysid is None: if target_sysid is None:
target_sysid = self.sysid_thismav() target_sysid = self.sysid_thismav()
self.change_mode('GUIDED') self.change_mode('GUIDED')
@ -5571,6 +5605,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.disarm_vehicle() self.disarm_vehicle()
def SET_POSITION_TARGET_LOCAL_NED(self, target_sysid=None, target_compid=1): 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: if target_sysid is None:
target_sysid = self.sysid_thismav() target_sysid = self.sysid_thismav()
self.change_mode('GUIDED') 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.do_RTL()
self.disarm_vehicle() self.disarm_vehicle()
def test_end_mission_behavior(self, timeout=60): def EndMissionBehavior(self, timeout=60):
'''Test end mission behavior'''
self.context_push() self.context_push()
ex = None ex = None
try: try:
@ -5691,7 +5727,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
if ex is not None: if ex is not None:
raise ex raise ex
def test_mavproxy_param(self): def MAVProxyParam(self):
'''Test MAVProxy parameter handling'''
mavproxy = self.start_mavproxy() mavproxy = self.start_mavproxy()
mavproxy.send("param fetch\n") mavproxy.send("param fetch\n")
mavproxy.expect("Received [0-9]+ parameters") 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): 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: if target_sysid is None:
target_sysid = self.sysid_thismav() target_sysid = self.sysid_thismav()
self.check_mission_upload_download(self.MAV_CMD_DO_SET_MISSION_CURRENT_mission()) 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) want_result=mavutil.mavlink.MAV_RESULT_FAILED)
def FlashStorage(self): def FlashStorage(self):
'''Test flash storage (for parameters etc)'''
self.set_parameter("LOG_BITMASK", 1) self.set_parameter("LOG_BITMASK", 1)
self.reboot_sitl() 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) self.assert_parameter_value("LOG_BITMASK", 1)
def FRAMStorage(self): def FRAMStorage(self):
'''Test FRAM storage (for parameters etc)'''
self.set_parameter("LOG_BITMASK", 1) self.set_parameter("LOG_BITMASK", 1)
self.reboot_sitl() 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) self.assert_parameter_value("LOG_BITMASK", 1)
def RangeFinder(self): def RangeFinder(self):
'''Test RangeFinder'''
# the following magic numbers correspond to the post locations in SITL # the following magic numbers correspond to the post locations in SITL
home_string = "%s,%s,%s,%s" % (51.8752066, 14.6487840, 54.15, 315) 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: if abs(m.distance - want_range) > 0.1:
raise NotAchievedException("Expected %fm got %fm" % (want_range, m.distance)) raise NotAchievedException("Expected %fm got %fm" % (want_range, m.distance))
def test_depthfinder(self): def DepthFinder(self):
'''Test mulitple depthfinders for boats'''
# Setup rangefinders # Setup rangefinders
self.customise_SITL_commandline([ self.customise_SITL_commandline([
"--uartH=sim:nmea", # NMEA Rangefinder "--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() # self.context_pop()
def EStopAtBoot(self): def EStopAtBoot(self):
'''Ensure EStop prevents arming when asserted at boot time'''
self.context_push() self.context_push()
self.set_parameters({ self.set_parameters({
"RC9_OPTION": 31, "RC9_OPTION": 31,
@ -5934,6 +5977,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.assert_mode(want) self.assert_mode(want)
def StickMixingAuto(self): def StickMixingAuto(self):
'''Ensure Stick Mixing works in auto'''
items = [] items = []
self.set_parameter('STICK_MIXING', 1) self.set_parameter('STICK_MIXING', 1)
# home # home
@ -5953,6 +5997,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.disarm_vehicle() self.disarm_vehicle()
def AutoDock(self): def AutoDock(self):
'''Test automatic docking of rover for multiple FOVs of simulated beacon'''
self.context_push() self.context_push()
self.set_parameters({ 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 = super(AutoTestRover, self).tests()
ret.extend([ ret.extend([
("MAVProxy_SetModeUsingSwitch", self.MAVProxy_SetModeUsingSwitch,
"Set modes via mavproxy switch", self.HIGH_LATENCY2,
self.test_setting_modes_via_mavproxy_switch), self.MAVProxy_SetModeUsingMode,
self.ModeSwitch,
("HIGH_LATENCY2", self.AuxModeSwitch,
"Set sending of HIGH_LATENCY2", self.DriveRTL,
self.HIGH_LATENCY2), self.SmartRTL,
self.DriveSquare,
("MAVProxy_SetModeUsingMode", self.DriveMaxRCIN,
"Set modes via mavproxy mode command", self.DriveMission,
self.test_setting_modes_via_mavproxy_mode_command), # self.DriveBrake, # disabled due to frequent failures
self.GetBanner,
("ModeSwitch", self.DO_SET_MODE,
"Set modes via modeswitch", self.MAVProxy_DO_SET_MODE,
self.test_setting_modes_via_modeswitch), self.ServoRelayEvents,
self.RCOverrides,
("AuxModeSwitch", self.RCOverridesCancel,
"Set modes via auxswitches", self.MANUAL_CONTROL,
self.test_setting_modes_via_auxswitches), self.Sprayer,
self.AC_Avoidance,
("DriveRTL", self.CameraMission,
"Drive an RTL Mission", self.drive_rtl_mission), self.Gripper,
self.GripperMission,
("SmartRTL", self.SET_MESSAGE_INTERVAL,
"Test SmartRTL", self.REQUEST_MESSAGE,
self.drive_smartrtl), self.SYSID_ENFORCE,
self.SET_ATTITUDE_TARGET,
("DriveSquare", self.SET_POSITION_TARGET_LOCAL_NED,
"Learn/Drive Square with Ch7 option", self.MAV_CMD_DO_SET_MISSION_CURRENT,
self.drive_square), self.Button,
self.Rally,
("DriveMaxRCIN", self.Offboard,
"Drive rover at max RC inputs", self.MAVProxyParam,
self.drive_max_rcin), self.GCSFence,
self.GCSMission,
("DriveMission", self.GCSRally,
"Drive Mission %s" % "rover1.txt", self.MotorTest,
lambda: self.drive_mission("rover1.txt", strict=False)), self.WheelEncoders,
self.DataFlashOverMAVLink,
# disabled due to frequent failures in travis. This test needs re-writing self.DataFlash,
# ("Drive Brake", self.drive_brake), self.SkidSteer,
self.PolyFence,
("GetBanner", "Get Banner", self.do_get_banner), self.PolyFenceAvoidance,
self.PolyFenceObjectAvoidance,
("DO_SET_MODE", self.PolyFenceObjectAvoidanceBendyRuler,
"Set mode via MAV_COMMAND_DO_SET_MODE", self.SendToComponents,
self.test_do_set_mode_via_command_long), self.PolyFenceObjectAvoidanceBendyRulerEasier,
self.SlewRate,
("MAVProxy_DO_SET_MODE", self.Scripting,
"Set mode via MAV_COMMAND_DO_SET_MODE with MAVProxy", self.ScriptingSteeringAndThrottle,
self.test_mavproxy_do_set_mode_via_command_long), self.MissionFrames,
self.SetpointGlobalPos,
("ServoRelayEvents", self.SetpointGlobalVel,
"Test ServoRelayEvents", self.AccelCal,
self.test_servorelayevents), self.RangeFinder,
self.AP_Proximity_MAV,
("RCOverrides", "Test RC overrides", self.test_rc_overrides), self.EndMissionBehavior,
self.FlashStorage,
("RCOverridesCancel", "Test RC overrides Cancel", self.test_rc_override_cancel), self.FRAMStorage,
self.LogUpload,
("MANUAL_CONTROL", "Test mavlink MANUAL_CONTROL", self.test_manual_control), self.DepthFinder,
self.ChangeModeByNumber,
("Sprayer", "Test Sprayer", self.test_sprayer), self.EStopAtBoot,
self.StickMixingAuto,
("AC_Avoidance", self.AutoDock,
"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),
]) ])
return ret return ret

17
Tools/autotest/sailboat.py
View File

@ -32,7 +32,8 @@ class AutoTestSailboat(AutoTestRover):
self.frame = 'sailboat' self.frame = 'sailboat'
super(AutoTestSailboat, self).init() 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.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
@ -74,19 +75,17 @@ class AutoTestSailboat(AutoTestRover):
self.progress("RTL Mission OK") self.progress("RTL Mission OK")
def DriveMission(self):
'''sail a simple mission'''
self.drive_mission("balancebot1.txt", strict=False)
def tests(self): def tests(self):
'''return list of all tests''' '''return list of all tests'''
ret = ([]) ret = ([])
ret.extend([ ret.extend([
("DriveRTL", self.DriveRTL,
"Drive an RTL Mission", self.DriveMission,
self.drive_rtl_mission),
("DriveMission",
"Drive Mission %s" % "balancebot1.txt",
lambda: self.drive_mission("balancebot1.txt", strict=False)),
]) ])
return ret return ret