mirror of https://github.com/ArduPilot/ardupilot
autotest: ArduCopter test can now fly a square
the copter now takes off, yaws to north, flies a 50m square, then does a loiter test for 10s and lands
This commit is contained in:
Andrew Tridgell
parent
0be90fe893
commit
8917deee40
|
|
@ -1,3 +1,4 @@
|
|||
FRAME 0
|
||||
RC1_MAX 2000.000000
|
||||
RC1_MIN 1000.000000
|
||||
RC1_TRIM 1500.000000
|
||||
|
|
|
|||
|
|
@ -1,12 +1,56 @@
|
|||
# fly ArduCopter in SIL
|
||||
|
||||
import util, pexpect, sys, time, math, shutil
|
||||
import util, pexpect, sys, time, math, shutil, os
|
||||
|
||||
# get location of scripts
|
||||
testdir=os.path.dirname(os.path.realpath(__file__))
|
||||
|
||||
sys.path.insert(0, 'pymavlink')
|
||||
import mavutil
|
||||
|
||||
HOME_LOCATION='-35.362938,149.165085,650,270'
|
||||
|
||||
class location(object):
|
||||
'''represent a GPS coordinate'''
|
||||
def __init__(self, lat, lng, alt=0):
|
||||
self.lat = lat
|
||||
self.lng = lng
|
||||
self.alt = alt
|
||||
|
||||
def get_distance(loc1, loc2):
|
||||
'''get ground distance between two locations'''
|
||||
dlat = loc2.lat - loc1.lat
|
||||
dlong = loc2.lng - loc1.lng
|
||||
return math.sqrt((dlat*dlat) + (dlong*dlong)) * 1.113195e5
|
||||
|
||||
def get_bearing(loc1, loc2):
|
||||
'''get bearing from loc1 to loc2'''
|
||||
off_x = loc2.lng - loc1.lng
|
||||
off_y = loc2.lat - loc1.lat
|
||||
bearing = 90.00 + math.atan2(-off_y, off_x) * 57.2957795
|
||||
if bearing < 0:
|
||||
bearing += 360.00
|
||||
return bearing;
|
||||
|
||||
def current_location(mav):
|
||||
'''return current location'''
|
||||
return location(mav.messages['GPS_RAW'].lat,
|
||||
mav.messages['GPS_RAW'].lon,
|
||||
mav.messages['VFR_HUD'].alt)
|
||||
|
||||
def wait_altitude(mav, alt_min, alt_max, timeout=30):
|
||||
'''wait for a given altitude range'''
|
||||
tstart = time.time()
|
||||
print("Waiting for altitude between %u and %u" % (alt_min, alt_max))
|
||||
while time.time() < tstart + timeout:
|
||||
m = mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
print("Altitude %u" % m.alt)
|
||||
if m.alt >= alt_min and m.alt <= alt_max:
|
||||
return True
|
||||
print("Failed to attain altitude range")
|
||||
return False
|
||||
|
||||
|
||||
def arm_motors(mavproxy):
|
||||
'''arm motors'''
|
||||
mavproxy.send('switch 6\n') # stabilize mode
|
||||
|
|
@ -31,9 +75,7 @@ def takeoff(mavproxy, mav):
|
|||
mavproxy.send('switch 6\n') # stabilize mode
|
||||
mavproxy.expect('STABILIZE>')
|
||||
mavproxy.send('rc 3 1500\n')
|
||||
mavproxy.send('status\n')
|
||||
m = mav.recv_match(type='VFR_HUD', condition='VFR_HUD.alt>=30', blocking=True)
|
||||
print("Altitude %u" % m.alt)
|
||||
wait_altitude(mav, 30, 40)
|
||||
print("TAKEOFF COMPLETE")
|
||||
|
||||
|
||||
|
|
@ -60,22 +102,90 @@ def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
|
|||
return False
|
||||
|
||||
|
||||
def wait_heading(mav, heading, accuracy=5, timeout=30):
|
||||
'''wait for a given heading'''
|
||||
tstart = time.time()
|
||||
while time.time() < tstart + timeout:
|
||||
m = mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
print("Heading %u" % m.heading)
|
||||
if math.fabs(m.heading - heading) <= accuracy:
|
||||
return True
|
||||
print("Failed to attain heading %u" % heading)
|
||||
return False
|
||||
|
||||
|
||||
def wait_distance(mav, distance, accuracy=5, timeout=30):
|
||||
'''wait for flight of a given distance'''
|
||||
tstart = time.time()
|
||||
start = current_location(mav)
|
||||
while time.time() < tstart + timeout:
|
||||
m = mav.recv_match(type='GPS_RAW', blocking=True)
|
||||
pos = current_location(mav)
|
||||
delta = get_distance(start, pos)
|
||||
print("Distance %.2f meters" % delta)
|
||||
if math.fabs(delta - distance) <= accuracy:
|
||||
return True
|
||||
print("Failed to attain distance %u" % distance)
|
||||
return False
|
||||
|
||||
|
||||
def fly_square(mavproxy, mav, side=50, timeout=120):
|
||||
'''fly a square, flying N then E'''
|
||||
mavproxy.send('switch 6\n')
|
||||
mavproxy.expect('STABILIZE>')
|
||||
tstart = time.time()
|
||||
mavproxy.send('rc 3 1430\n')
|
||||
mavproxy.send('rc 4 1610\n')
|
||||
if not wait_heading(mav, 0):
|
||||
return False
|
||||
mavproxy.send('rc 4 1500\n')
|
||||
|
||||
print("Going north %u meters" % side)
|
||||
mavproxy.send('rc 2 1390\n')
|
||||
ok = wait_distance(mav, side)
|
||||
mavproxy.send('rc 2 1500\n')
|
||||
|
||||
print("Going east %u meters" % side)
|
||||
mavproxy.send('rc 1 1610\n')
|
||||
ok = wait_distance(mav, side)
|
||||
mavproxy.send('rc 1 1500\n')
|
||||
|
||||
print("Going south %u meters" % side)
|
||||
mavproxy.send('rc 2 1610\n')
|
||||
ok = wait_distance(mav, side)
|
||||
mavproxy.send('rc 2 1500\n')
|
||||
|
||||
print("Going west %u meters" % side)
|
||||
mavproxy.send('rc 1 1390\n')
|
||||
ok = wait_distance(mav, side)
|
||||
mavproxy.send('rc 1 1500\n')
|
||||
return ok
|
||||
|
||||
|
||||
|
||||
|
||||
def land(mavproxy, mav, timeout=60):
|
||||
'''land the quad'''
|
||||
print("STARTING LANDING")
|
||||
mavproxy.send('switch 6\n')
|
||||
mavproxy.expect('STABILIZE>')
|
||||
mavproxy.send('status\n')
|
||||
mavproxy.expect('>')
|
||||
mavproxy.send('rc 3 1300\n')
|
||||
|
||||
# start by dropping throttle till we have lost 5m
|
||||
mavproxy.send('rc 3 1380\n')
|
||||
m = mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
wait_altitude(mav, 0, m.alt-5)
|
||||
|
||||
# now let it settle gently
|
||||
mavproxy.send('rc 3 1400\n')
|
||||
tstart = time.time()
|
||||
while time.time() < tstart + timeout:
|
||||
m = mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
print("Altitude %u" % m.alt)
|
||||
if m.alt <= 0:
|
||||
print("LANDED OK")
|
||||
return True
|
||||
print("LANDING FAILED")
|
||||
return False
|
||||
if wait_altitude(mav, -5, 0):
|
||||
print("LANDING OK")
|
||||
return True
|
||||
else:
|
||||
print("LANDING FAILED")
|
||||
return False
|
||||
|
||||
|
||||
|
||||
|
|
@ -93,22 +203,31 @@ def fly_ArduCopter():
|
|||
sil = util.start_SIL('ArduCopter')
|
||||
mavproxy = util.start_MAVProxy_SIL('ArduCopter')
|
||||
mavproxy.expect('Please Run Setup')
|
||||
|
||||
# we need to restart it after eeprom erase
|
||||
mavproxy.close()
|
||||
sil.close()
|
||||
sil = util.start_SIL('ArduCopter')
|
||||
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:14550 --quadcopter')
|
||||
mavproxy.expect('Received [0-9]+ parameters')
|
||||
|
||||
# setup test parameters
|
||||
mavproxy.send("param load %s/ArduCopter.parm\n" % testdir)
|
||||
mavproxy.expect('Loaded [0-9]+ parameters')
|
||||
|
||||
# reboot with new parameters
|
||||
mavproxy.close()
|
||||
sil.close()
|
||||
sil = util.start_SIL('ArduCopter')
|
||||
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:14550 --out=192.168.2.15:14550 --quadcopter --streamrate=1')
|
||||
mavproxy.expect('Logging to (\S+)')
|
||||
logfile = mavproxy.match.group(1)
|
||||
print("LOGFILE %s" % logfile)
|
||||
mavproxy.expect("Ready to FLY")
|
||||
mavproxy.expect('Received [0-9]+ parameters')
|
||||
|
||||
# setup test parameters
|
||||
mavproxy.send("param load autotest/ArduCopter.parm\n")
|
||||
mavproxy.expect('Loaded [0-9]+ parameters')
|
||||
|
||||
# start hil_quad.py
|
||||
util.run_cmd('pkill -f hil_quad.py', checkfail=False)
|
||||
hquad = pexpect.spawn('HILTest/hil_quad.py --fgout=192.168.2.15:9123 --home=%s' % HOME_LOCATION,
|
||||
logfile=sys.stdout, timeout=10)
|
||||
hquad.expect('Starting at')
|
||||
|
|
@ -123,6 +242,7 @@ def fly_ArduCopter():
|
|||
setup_rc(mavproxy)
|
||||
arm_motors(mavproxy)
|
||||
takeoff(mavproxy, mav)
|
||||
fly_square(mavproxy, mav)
|
||||
loiter(mavproxy, mav)
|
||||
land(mavproxy, mav)
|
||||
disarm_motors(mavproxy)
|
||||
|
|
|
|||
Loading…
Reference in New Issue