mirror of https://github.com/ArduPilot/ardupilot
Tools: autotest: fix up the arming tests
Tools: unify arm function failure message Tools: get autodisarm time from parameter for autodisarm test Tools: disable autodisarm for arm/disarm tests. Tools: fix interlock channel for heli Tools: simplify arming_test sub exclusion Tools: fix empty string in progress Tools: add back arming test to plane Tools: allow single test run on Sub Tools: remove old comments on autotest common Tools: add vehicle type getter function Tools: make get_rudder_channel abstract method Tools: common make get_disarm_delay abstract method Tools: make set_autodisarm_delay abstract method Tools: rename set_throttle_zero to zero_throttle and use it Tools: common.py remove unnecessary exception Tools: subclass vehicle type
This commit is contained in:
Pierre Kancir
Peter Barker
parent
badfd1d559
commit
8a7555bf56
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@ -102,40 +102,11 @@ class AutoTestRover(AutoTest):
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self.progress("Ready to start testing!")
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# def reset_and_arm(self):
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# """Reset RC, set to MANUAL and arm."""
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# self.wait_heartbeat()
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# # ensure all sticks in the middle
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# self.set_rc_default()
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# self.mavproxy.send('switch 1\n')
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# self.wait_heartbeat()
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# self.disarm_vehicle()
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# self.wait_heartbeat()
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# self.arm_vehicle()
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#
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def is_rover(self):
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return True
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# # TEST RC OVERRIDE
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# # TEST RC OVERRIDE TIMEOUT
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# def test_rtl(self, home, distance_min=5, timeout=250):
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# """Return, land."""
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# super(AutoTestRover, self).test_rtl(home, distance_min, timeout)
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#
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# def test_mission(self, filename):
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# """Test a mission from a file."""
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# self.progress("Test mission %s" % filename)
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# num_wp = self.load_mission(filename)
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# self.mavproxy.send('wp set 1\n')
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# self.wait_heartbeat()
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# self.mavproxy.send('switch 4\n') # auto mode
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# self.wait_mode('AUTO')
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# ret = self.wait_waypoint(0, num_wp-1, max_dist=5, timeout=500)
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#
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# if ret:
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# self.mavproxy.expect("Mission Complete")
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# self.wait_heartbeat()
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# self.wait_mode('HOLD')
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# self.progress("test: MISSION COMPLETE: passed=%s" % ret)
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# return ret
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def get_rudder_channel(self):
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return int(self.get_parameter("RCMAP_ROLL"))
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##########################################################
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# TESTS DRIVE
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@ -665,7 +636,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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def test_rc_override_cancel(self):
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self.change_mode('MANUAL')
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self.wait_ready_to_arm()
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self.set_throttle_zero()
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self.zero_throttle()
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self.arm_vehicle()
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# start moving forward a little:
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normal_rc_throttle = 1700
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@ -125,6 +125,18 @@ class AutoTestCopter(AutoTest):
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if self.copy_tlog:
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shutil.copy(self.logfile, self.buildlog)
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def is_copter(self):
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return True
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def get_rudder_channel(self):
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return int(self.get_parameter("RCMAP_YAW"))
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def get_disarm_delay(self):
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return int(self.get_parameter("DISARM_DELAY"))
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def set_autodisarm_delay(self, delay):
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self.set_parameter("DISARM_DELAY", delay)
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def user_takeoff(self, alt_min=30):
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'''takeoff using mavlink takeoff command'''
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self.run_cmd(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
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@ -151,7 +163,7 @@ class AutoTestCopter(AutoTest):
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if not self.armed():
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self.progress("Waiting reading for arm")
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self.wait_ready_to_arm(require_absolute=require_absolute)
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self.set_rc(3, 1000)
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self.zero_throttle()
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self.arm_vehicle()
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self.set_rc(3, takeoff_throttle)
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self.wait_for_alt(alt_min=alt_min, timeout=timeout)
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@ -491,7 +503,7 @@ class AutoTestCopter(AutoTest):
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self.mav.motors_disarmed_wait()
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self.progress("Reached failsafe home OK")
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self.change_mode('STABILIZE')
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self.set_rc(3, 1000)
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self.zero_throttle()
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return
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self.reboot_sitl()
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@ -612,13 +624,13 @@ class AutoTestCopter(AutoTest):
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self.set_parameter("FENCE_ENABLE", 0)
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if (alt <= 1 and home_distance < 10) or (not self.armed() and home_distance < 10):
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# reduce throttle
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self.set_rc(3, 1000)
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self.zero_throttle()
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self.change_mode("LAND")
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self.progress("Waiting for disarm")
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self.mav.motors_disarmed_wait()
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self.progress("Reached home OK")
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self.change_mode("STABILIZE")
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self.set_rc(3, 1000)
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self.zero_throttle()
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# remove if we ever clear battery failsafe flag on disarm:
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self.mavproxy.send('arm uncheck all\n')
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self.arm_vehicle()
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@ -670,7 +682,7 @@ class AutoTestCopter(AutoTest):
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self.progress("Waiting for disarm")
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self.mav.motors_disarmed_wait()
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self.set_rc(3, 1000)
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self.zero_throttle()
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self.mavproxy.send('switch 6\n') # stabilize mode
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self.wait_mode('STABILIZE')
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@ -824,7 +836,7 @@ class AutoTestCopter(AutoTest):
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self.change_mode("STABILIZE")
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self.wait_ready_to_arm()
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self.set_rc(3, 1000)
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self.zero_throttle()
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self.arm_vehicle()
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# switch into AUTO mode and raise throttle
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@ -1201,7 +1213,7 @@ class AutoTestCopter(AutoTest):
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self.wait_waypoint(0, num_wp-1, timeout=500)
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# set throttle to minimum
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self.set_rc(3, 1000)
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self.zero_throttle()
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# wait for disarm
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self.mav.motors_disarmed_wait()
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@ -1243,7 +1255,7 @@ class AutoTestCopter(AutoTest):
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self.wait_waypoint(0, num_wp-1, timeout=500)
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# set throttle to minimum
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self.set_rc(3, 1000)
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self.zero_throttle()
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# wait for disarm
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self.mav.motors_disarmed_wait()
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@ -1444,7 +1456,7 @@ class AutoTestCopter(AutoTest):
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ex = e
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self.context_pop()
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self.set_rc(3, 1000)
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self.zero_throttle()
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self.reboot_sitl()
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if ex is not None:
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@ -1535,7 +1547,7 @@ class AutoTestCopter(AutoTest):
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self.progress("Exception caught")
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ex = e
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self.set_rc(3, 1000)
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self.zero_throttle()
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if ex is not None:
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raise ex
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@ -1690,7 +1702,7 @@ class AutoTestCopter(AutoTest):
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self.progress("Waiting for location")
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old_pos = self.mav.location()
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self.set_rc(3, 1000)
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self.zero_throttle()
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self.takeoff(10, 1800)
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# move away a little
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self.set_rc(2, 1550)
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@ -1709,7 +1721,7 @@ class AutoTestCopter(AutoTest):
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self.progress("Exception caught")
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ex = e
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self.set_rc(3, 1000)
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self.zero_throttle()
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self.context_pop()
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self.reboot_sitl()
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self.progress("All done")
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@ -1911,7 +1923,7 @@ class AutoTestCopter(AutoTest):
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self.progress("Exception caught")
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ex = e
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self.set_rc(3, 1000)
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self.zero_throttle()
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if ex is not None:
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raise ex
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@ -1971,7 +1983,7 @@ class AutoTestCopter(AutoTest):
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self.progress("Exception caught")
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ex = e
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self.set_rc(3, 1000)
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self.zero_throttle()
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if ex is not None:
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raise ex
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@ -2154,7 +2166,7 @@ class AutoTestCopter(AutoTest):
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self.progress("Waiting for location")
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self.mav.location()
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self.set_rc(3, 1000)
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self.zero_throttle()
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self.mavproxy.send('switch 6\n') # stabilize mode
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self.wait_heartbeat()
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self.wait_mode('STABILIZE')
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@ -2218,7 +2230,7 @@ class AutoTestCopter(AutoTest):
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ex = e
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self.context_pop()
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self.set_rc(3, 1000)
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self.zero_throttle()
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self.reboot_sitl()
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if ex is not None:
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@ -2590,7 +2602,7 @@ class AutoTestCopter(AutoTest):
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self.progress("Waiting for location")
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self.mav.location()
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self.set_rc(3, 1000)
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self.zero_throttle()
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self.mavproxy.send('switch 6\n') # stabilize mode
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self.wait_heartbeat()
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self.wait_mode('STABILIZE')
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@ -2627,7 +2639,7 @@ class AutoTestCopter(AutoTest):
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ex = e
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self.context_pop()
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self.set_rc(3, 1000)
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self.zero_throttle()
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self.reboot_sitl()
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self.progress("All done")
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@ -2817,6 +2829,9 @@ class AutoTestHeli(AutoTestCopter):
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AVCHOME.heading)
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self.frame = 'heli'
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def is_heli(self):
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return True
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def rc_defaults(self):
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ret = super(AutoTestHeli, self).rc_defaults()
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ret[8] = 1000
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@ -93,6 +93,18 @@ class AutoTestPlane(AutoTest):
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self.hasInit = True
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self.progress("Ready to start testing!")
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def is_plane(self):
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return True
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def get_rudder_channel(self):
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return int(self.get_parameter("RCMAP_YAW"))
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def get_disarm_delay(self):
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return int(self.get_parameter("LAND_DISARMDELAY"))
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def set_autodisarm_delay(self, delay):
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self.set_parameter("LAND_DISARMDELAY", delay)
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def takeoff(self):
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"""Takeoff get to 30m altitude."""
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@ -752,6 +764,8 @@ class AutoTestPlane(AutoTest):
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("TestFlaps", "Flaps", self.fly_flaps),
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("ArmFeatures", "Arm features", self.test_arm_feature),
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("MainFlight",
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"Lots of things in one flight",
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self.test_main_flight),
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@ -95,6 +95,9 @@ class AutoTestSub(AutoTest):
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self.progress("Ready to start testing!")
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def is_sub(self):
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return True
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def dive_manual(self):
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self.wait_ready_to_arm()
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self.arm_vehicle()
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@ -306,6 +306,7 @@ def run_specific_test(step, *args, **kwargs):
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"drive.APMrover2": apmrover2.AutoTestRover,
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"drive.BalanceBot": balancebot.AutoTestBalanceBot,
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"fly.CopterAVC": arducopter.AutoTestHeli,
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"dive.ArduSub": ardusub.AutoTestSub,
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}
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tester_class = tester_class_map[testname]
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tester = tester_class(*args, **kwargs)
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@ -683,9 +683,9 @@ class AutoTest(ABC):
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return True
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raise SetRCTimeout("Failed to send RC commands to channel %s" % str(chan))
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def set_throttle_zero(self):
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def zero_throttle(self):
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"""Set throttle to zero."""
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if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_GROUND_ROVER:
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if self.is_rover():
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self.set_rc(3, 1500)
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else:
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self.set_rc(3, 1000)
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@ -716,19 +716,12 @@ class AutoTest(ABC):
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self.set_rc(chan, out_trim)
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def get_rudder_channel(self):
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if self.mav.mav_type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
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mavutil.mavlink.MAV_TYPE_HELICOPTER,
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mavutil.mavlink.MAV_TYPE_HEXAROTOR,
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mavutil.mavlink.MAV_TYPE_OCTOROTOR,
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mavutil.mavlink.MAV_TYPE_COAXIAL,
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mavutil.mavlink.MAV_TYPE_TRICOPTER]:
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return int(self.get_parameter("RCMAP_YAW"))
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if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_FIXED_WING:
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return int(self.get_parameter("RCMAP_YAW"))
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if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_GROUND_ROVER:
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return int(self.get_parameter("RCMAP_ROLL"))
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if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_SUBMARINE:
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raise ErrorException("Arming with rudder is not supported by Submarine")
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"""Return the Rudder channel number as set in parameter."""
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raise ErrorException("Rudder parameter is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame))
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def get_disarm_delay(self):
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"""Return disarm delay value."""
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raise ErrorException("Disarm delay is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame))
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def armed(self):
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"""Return true if vehicle is armed and safetyoff"""
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@ -752,7 +745,7 @@ class AutoTest(ABC):
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if self.mav.motors_armed():
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self.progress("Motors ARMED")
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return True
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raise AutoTestTimeoutException("Unable to ARM with mavlink")
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raise AutoTestTimeoutException("Failed to ARM with mavlink")
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def disarm_vehicle(self, timeout=20):
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"""Disarm vehicle with mavlink disarm message."""
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@ -772,7 +765,7 @@ class AutoTest(ABC):
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if not self.mav.motors_armed():
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self.progress("Motors DISARMED")
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return True
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raise AutoTestTimeoutException("Unable to DISARM with mavlink")
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raise AutoTestTimeoutException("Failed to DISARM with mavlink")
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def mavproxy_arm_vehicle(self):
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"""Arm vehicle with mavlink arm message send from MAVProxy."""
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@ -807,7 +800,7 @@ class AutoTest(ABC):
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print("Not armed after %f seconds" % (tdelta))
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if tdelta > timeout:
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break
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self.progress("FAILED TO ARM WITH RADIO")
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self.progress("Failed to ARM with radio")
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self.set_output_to_trim(self.get_rudder_channel())
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return False
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@ -824,7 +817,7 @@ class AutoTest(ABC):
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self.set_output_to_trim(self.get_rudder_channel())
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self.progress("Disarm in %ss" % disarm_delay) # TODO check disarming time
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return True
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self.progress("FAILED TO DISARM WITH RADIO")
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self.progress("Failed to DISARM with radio")
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self.set_output_to_trim(self.get_rudder_channel())
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return False
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@ -838,7 +831,7 @@ class AutoTest(ABC):
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if self.mav.motors_armed():
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self.progress("MOTORS ARMED OK WITH SWITCH")
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return True
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self.progress("FAILED TO ARM WITH SWITCH")
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self.progress("Failed to ARM with switch")
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return False
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def disarm_motors_with_switch(self, switch_chan, timeout=20):
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@ -851,26 +844,28 @@ class AutoTest(ABC):
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if not self.mav.motors_armed():
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self.progress("MOTORS DISARMED OK WITH SWITCH")
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return True
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self.progress("FAILED TO DISARM WITH SWITCH")
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self.progress("Failed to DISARM with switch")
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return False
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def autodisarm_motors(self):
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"""Autodisarm motors."""
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self.progress("Autodisarming motors")
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if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_GROUND_ROVER: # NOT IMPLEMENTED ON ROVER
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self.progress("MOTORS AUTODISARMED OK")
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return True
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def wait_autodisarm_motors(self):
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"""Wait for Autodisarm motors within disarm delay
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this feature is only available in copter (DISARM_DELAY) and plane (LAND_DISARMDELAY)."""
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self.progress("Wait autodisarming motors")
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disarm_delay = self.get_disarm_delay()
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tstart = self.get_sim_time()
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timeout = 15
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timeout = disarm_delay * 2
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while self.get_sim_time() < tstart + timeout:
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self.wait_heartbeat()
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if not self.mav.motors_armed():
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disarm_delay = self.get_sim_time() - tstart
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disarm_time = self.get_sim_time() - tstart
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self.progress("MOTORS AUTODISARMED")
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self.progress("Autodisarm in %ss" % disarm_delay) # TODO check disarming time
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return True
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self.progress("FAILED TO AUTODISARM")
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return False
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self.progress("Autodisarm in %ss, expect less than %ss" % (disarm_time, disarm_delay))
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return disarm_time <= disarm_delay
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raise AutoTestTimeoutException("Failed to AUTODISARM")
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def set_autodisarm_delay(self, delay):
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"""Set autodisarm delay"""
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raise ErrorException("Auto disarm is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame))
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@staticmethod
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def should_fetch_all_for_parameter_change(param_name):
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|
|
@ -1115,20 +1110,15 @@ class AutoTest(ABC):
|
|||
|
||||
def reach_heading_manual(self, heading):
|
||||
"""Manually direct the vehicle to the target heading."""
|
||||
if self.mav.mav_type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
|
||||
mavutil.mavlink.MAV_TYPE_HELICOPTER,
|
||||
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
|
||||
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
|
||||
mavutil.mavlink.MAV_TYPE_COAXIAL,
|
||||
mavutil.mavlink.MAV_TYPE_TRICOPTER]:
|
||||
if self.is_copter():
|
||||
self.mavproxy.send('rc 4 1580\n')
|
||||
self.wait_heading(heading)
|
||||
self.mavproxy.send('rc 4 1500\n')
|
||||
self.mav.recv_match(condition='RC_CHANNELS.chan4_raw==1500',
|
||||
blocking=True)
|
||||
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_FIXED_WING:
|
||||
if self.is_plane():
|
||||
self.progress("NOT IMPLEMENTED")
|
||||
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_GROUND_ROVER:
|
||||
if self.is_rover():
|
||||
self.mavproxy.send('rc 1 1700\n')
|
||||
self.mavproxy.send('rc 3 1550\n')
|
||||
self.wait_heading(heading)
|
||||
|
|
@ -1141,20 +1131,15 @@ class AutoTest(ABC):
|
|||
|
||||
def reach_distance_manual(self, distance):
|
||||
"""Manually direct the vehicle to the target distance from home."""
|
||||
if self.mav.mav_type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
|
||||
mavutil.mavlink.MAV_TYPE_HELICOPTER,
|
||||
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
|
||||
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
|
||||
mavutil.mavlink.MAV_TYPE_COAXIAL,
|
||||
mavutil.mavlink.MAV_TYPE_TRICOPTER]:
|
||||
if self.is_copter():
|
||||
self.mavproxy.send('rc 2 1350\n')
|
||||
self.wait_distance(distance, accuracy=5, timeout=60)
|
||||
self.mavproxy.send('rc 2 1500\n')
|
||||
self.mav.recv_match(condition='RC_CHANNELS.chan2_raw==1500',
|
||||
blocking=True)
|
||||
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_FIXED_WING:
|
||||
if self.is_plane():
|
||||
self.progress("NOT IMPLEMENTED")
|
||||
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_GROUND_ROVER:
|
||||
if self.is_rover():
|
||||
self.mavproxy.send('rc 3 1700\n')
|
||||
self.wait_distance(distance, accuracy=2)
|
||||
self.mavproxy.send('rc 3 1500\n')
|
||||
|
|
@ -1503,7 +1488,6 @@ class AutoTest(ABC):
|
|||
if text.lower() in m.text.lower():
|
||||
self.progress("Received expected text : %s" % m.text.lower())
|
||||
return True
|
||||
self.progress()
|
||||
raise AutoTestTimeoutException("Failed to received text : %s" %
|
||||
text.lower())
|
||||
|
||||
|
|
@ -1645,11 +1629,15 @@ class AutoTest(ABC):
|
|||
# TEST ARMING/DISARM
|
||||
self.set_parameter("ARMING_RUDDER", 2) # allow arm and disarm with rudder on first tests
|
||||
interlock_channel = 8 # Plane got flighmode_ch on channel 8
|
||||
if self.mav.mav_type is not mavutil.mavlink.MAV_TYPE_HELICOPTER: # heli don't need interlock option
|
||||
if not self.is_heli(): # heli don't need interlock option
|
||||
interlock_channel = 9
|
||||
self.set_parameter("RC%u_OPTION" % interlock_channel, 32)
|
||||
self.set_rc(interlock_channel, 1000)
|
||||
self.set_throttle_zero()
|
||||
self.zero_throttle()
|
||||
# Disable auto disarm for next tests
|
||||
# Rover and Sub don't have auto disarm
|
||||
if self.is_copter() or self.is_plane():
|
||||
self.set_autodisarm_delay(0)
|
||||
self.start_test("Test normal arm and disarm features")
|
||||
self.wait_ready_to_arm()
|
||||
self.progress("default arm_vehicle() call")
|
||||
|
|
@ -1664,7 +1652,8 @@ class AutoTest(ABC):
|
|||
self.progress("disarm with mavproxy")
|
||||
if not self.mavproxy_disarm_vehicle():
|
||||
raise NotAchievedException("Failed to DISARM")
|
||||
if self.mav.mav_type != mavutil.mavlink.MAV_TYPE_SUBMARINE:
|
||||
|
||||
if not self.is_sub():
|
||||
self.progress("arm with rc input")
|
||||
if not self.arm_motors_with_rc_input():
|
||||
raise NotAchievedException("Failed to arm with RC input")
|
||||
|
|
@ -1672,19 +1661,6 @@ class AutoTest(ABC):
|
|||
if not self.disarm_motors_with_rc_input():
|
||||
raise NotAchievedException("Failed to disarm with RC input")
|
||||
|
||||
# Disable auto disarm for next test
|
||||
# Rover and Sub don't have auto disarm
|
||||
if self.mav.mav_type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
|
||||
mavutil.mavlink.MAV_TYPE_HELICOPTER,
|
||||
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
|
||||
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
|
||||
mavutil.mavlink.MAV_TYPE_COAXIAL,
|
||||
mavutil.mavlink.MAV_TYPE_TRICOPTER]:
|
||||
self.set_parameter("DISARM_DELAY", 0)
|
||||
elif self.mav.mav_type == mavutil.mavlink.MAV_TYPE_FIXED_WING:
|
||||
self.set_parameter("LAND_DISARMDELAY", 0)
|
||||
# Sub has no 'switches'
|
||||
if self.mav.mav_type != mavutil.mavlink.MAV_TYPE_SUBMARINE:
|
||||
self.start_test("Test arm and disarm with switch")
|
||||
arming_switch = 7
|
||||
self.set_parameter("RC%d_OPTION" % arming_switch, 41)
|
||||
|
|
@ -1696,31 +1672,24 @@ class AutoTest(ABC):
|
|||
if not self.disarm_motors_with_switch(arming_switch):
|
||||
raise NotAchievedException("Failed to disarm with switch")
|
||||
self.set_rc(arming_switch, 1000)
|
||||
if self.mav.mav_type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
|
||||
mavutil.mavlink.MAV_TYPE_HELICOPTER,
|
||||
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
|
||||
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
|
||||
mavutil.mavlink.MAV_TYPE_COAXIAL,
|
||||
mavutil.mavlink.MAV_TYPE_TRICOPTER]:
|
||||
self.start_test("Test arming failure with throttle too high")
|
||||
self.set_rc(3, 1800)
|
||||
try:
|
||||
if self.arm_vehicle():
|
||||
raise NotAchievedException("Armed when throttle too high")
|
||||
except AutoTestTimeoutException():
|
||||
pass
|
||||
except ValueError:
|
||||
pass
|
||||
if self.arm_motors_with_rc_input():
|
||||
raise NotAchievedException(
|
||||
"Armed via RC when throttle too high")
|
||||
if self.arm_motors_with_switch(arming_switch):
|
||||
raise NotAchievedException("Armed via RC when switch too high")
|
||||
self.set_throttle_zero()
|
||||
self.set_rc(arming_switch, 1000)
|
||||
|
||||
# Sub doesn't have 'stick commands'
|
||||
if self.mav.mav_type != mavutil.mavlink.MAV_TYPE_SUBMARINE:
|
||||
if self.is_copter():
|
||||
self.start_test("Test arming failure with throttle too high")
|
||||
self.set_rc(3, 1800)
|
||||
try:
|
||||
if self.arm_vehicle():
|
||||
raise NotAchievedException("Armed when throttle too high")
|
||||
except ValueError:
|
||||
pass
|
||||
if self.arm_motors_with_rc_input():
|
||||
raise NotAchievedException(
|
||||
"Armed via RC when throttle too high")
|
||||
if self.arm_motors_with_switch(arming_switch):
|
||||
raise NotAchievedException("Armed via RC when switch too high")
|
||||
self.zero_throttle()
|
||||
self.set_rc(arming_switch, 1000)
|
||||
|
||||
# Sub doesn't have 'stick commands'
|
||||
self.start_test("Test arming failure with ARMING_RUDDER=0")
|
||||
self.set_parameter("ARMING_RUDDER", 0)
|
||||
if self.arm_motors_with_rc_input():
|
||||
|
|
@ -1743,51 +1712,45 @@ class AutoTest(ABC):
|
|||
self.wait_heartbeat()
|
||||
self.set_parameter("ARMING_RUDDER", 2)
|
||||
|
||||
if self.mav.mav_type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
|
||||
mavutil.mavlink.MAV_TYPE_HELICOPTER,
|
||||
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
|
||||
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
|
||||
mavutil.mavlink.MAV_TYPE_COAXIAL,
|
||||
mavutil.mavlink.MAV_TYPE_TRICOPTER]:
|
||||
self.start_test("Test arming failure with interlock enabled")
|
||||
self.set_rc(interlock_channel, 2000)
|
||||
if self.arm_motors_with_rc_input():
|
||||
raise NotAchievedException(
|
||||
"Armed with RC input when interlock enabled")
|
||||
if self.arm_motors_with_switch(arming_switch):
|
||||
raise NotAchievedException(
|
||||
"Armed with switch when interlock enabled")
|
||||
self.disarm_vehicle()
|
||||
self.wait_heartbeat()
|
||||
self.set_rc(arming_switch, 1000)
|
||||
self.set_rc(interlock_channel, 1000)
|
||||
if self.mav.mav_type is mavutil.mavlink.MAV_TYPE_HELICOPTER:
|
||||
self.start_test("Test motor interlock enable can't be set while disarmed")
|
||||
if self.is_copter():
|
||||
self.start_test("Test arming failure with interlock enabled")
|
||||
self.set_rc(interlock_channel, 2000)
|
||||
channel_field = "servo%u_raw" % interlock_channel
|
||||
interlock_value = self.get_parameter("SERVO%u_MIN" % interlock_channel)
|
||||
tstart = self.get_sim_time()
|
||||
while True:
|
||||
if self.get_sim_time_cached() - tstart > 20:
|
||||
self.set_rc(8, 1000)
|
||||
break # success!
|
||||
m = self.mav.recv_match(type='SERVO_OUTPUT_RAW',
|
||||
blocking=True,
|
||||
timeout=2)
|
||||
if m is None:
|
||||
continue
|
||||
m_value = getattr(m, channel_field, None)
|
||||
if m_value is None:
|
||||
self.set_rc(8, 1000)
|
||||
raise ValueError("Message has no %s field" %
|
||||
channel_field)
|
||||
self.progress("SERVO_OUTPUT_RAW.%s=%u want=%u" %
|
||||
(channel_field, m_value, interlock_value))
|
||||
if m_value != interlock_value:
|
||||
self.set_rc(8, 1000)
|
||||
raise NotAchievedException("Motor interlock was changed while disarmed")
|
||||
|
||||
self.set_rc(8, 1000)
|
||||
if self.arm_motors_with_rc_input():
|
||||
raise NotAchievedException(
|
||||
"Armed with RC input when interlock enabled")
|
||||
if self.arm_motors_with_switch(arming_switch):
|
||||
raise NotAchievedException(
|
||||
"Armed with switch when interlock enabled")
|
||||
self.disarm_vehicle()
|
||||
self.wait_heartbeat()
|
||||
self.set_rc(arming_switch, 1000)
|
||||
self.set_rc(interlock_channel, 1000)
|
||||
if self.is_heli():
|
||||
self.start_test("Test motor interlock enable can't be set while disarmed")
|
||||
self.set_rc(interlock_channel, 2000)
|
||||
channel_field = "servo%u_raw" % interlock_channel
|
||||
interlock_value = self.get_parameter("SERVO%u_MIN" % interlock_channel)
|
||||
tstart = self.get_sim_time()
|
||||
while True:
|
||||
if self.get_sim_time_cached() - tstart > 20:
|
||||
self.set_rc(interlock_channel, 1000)
|
||||
break # success!
|
||||
m = self.mav.recv_match(type='SERVO_OUTPUT_RAW',
|
||||
blocking=True,
|
||||
timeout=2)
|
||||
if m is None:
|
||||
continue
|
||||
m_value = getattr(m, channel_field, None)
|
||||
if m_value is None:
|
||||
self.set_rc(interlock_channel, 1000)
|
||||
raise ValueError("Message has no %s field" %
|
||||
channel_field)
|
||||
self.progress("SERVO_OUTPUT_RAW.%s=%u want=%u" %
|
||||
(channel_field, m_value, interlock_value))
|
||||
if m_value != interlock_value:
|
||||
self.set_rc(interlock_channel, 1000)
|
||||
raise NotAchievedException("Motor interlock was changed while disarmed")
|
||||
self.set_rc(interlock_channel, 1000)
|
||||
self.progress("ALL PASS")
|
||||
self.context_pop()
|
||||
# TODO : add failure test : arming check, wrong mode; Test arming magic; Same for disarm
|
||||
|
|
@ -2021,81 +1984,21 @@ class AutoTest(ABC):
|
|||
))
|
||||
self.context_pop()
|
||||
self.reboot_sitl()
|
||||
# # TEST MISSION FILE
|
||||
# # TODO : rework that to work on autotest server
|
||||
# # self.progress("TEST LOADING MISSION")
|
||||
# # num_wp = self.load_mission(
|
||||
# os.path.join(testdir, "fake_mission.txt"))
|
||||
# # if num_wp == 0:
|
||||
# # self.progress("Failed to load all_msg_mission")
|
||||
# # sucess = False
|
||||
# #
|
||||
# # self.progress("TEST SAVING MISSION")
|
||||
# # num_wp_old = num_wp
|
||||
# # num_wp = self.save_mission_to_file(os.path.join(testdir,
|
||||
# "fake_mission2.txt"))
|
||||
# # if num_wp != num_wp_old:
|
||||
# # self.progress("Failed to save all_msg_mission")
|
||||
# # sucess = False
|
||||
#
|
||||
# self.progress("TEST CLEARING MISSION")
|
||||
# self.mavproxy.send("wp clear\n")
|
||||
# self.mavproxy.send('wp list\n')
|
||||
# self.mavproxy.expect('Requesting [0-9]+ waypoints')
|
||||
# num_wp = mavwp.MAVWPLoader().count()
|
||||
# if num_wp != 0:
|
||||
# self.progress("Failed to clear mission ")
|
||||
# sucess = False
|
||||
#
|
||||
# return sucess
|
||||
#
|
||||
# # TESTS FAILSAFE
|
||||
# @abc.abstractmethod
|
||||
# def test_throttle_failsafe(self, home, distance_min=10, side=60,
|
||||
# timeout=180):
|
||||
# """Test that RTL success in case of thottle failsafe."""
|
||||
# pass
|
||||
#
|
||||
# # TEST ARM RADIO
|
||||
# @abc.abstractmethod
|
||||
# def test_arm_motors_radio(self):
|
||||
# """Test arming with RC sticks."""
|
||||
# pass
|
||||
#
|
||||
# # TEST DISARM RADIO
|
||||
# @abc.abstractmethod
|
||||
# def test_disarm_motors_radio(self):
|
||||
# """Test disarming with RC sticks."""
|
||||
# pass
|
||||
#
|
||||
# # TEST AUTO DISARM
|
||||
# @abc.abstractmethod
|
||||
# def test_autodisarm_motors(self):
|
||||
# """Test auto disarming."""
|
||||
# pass
|
||||
#
|
||||
# # TEST RC OVERRIDE
|
||||
# # TEST RC OVERRIDE TIMEOUT
|
||||
# @abc.abstractmethod
|
||||
# def test_rtl(self, home, distance_min=10, timeout=250):
|
||||
# """Test that RTL success."""
|
||||
# self.progress("# Enter RTL")
|
||||
# self.mavproxy.send('switch 3\n')
|
||||
# tstart = self.get_sim_time()
|
||||
# while self.get_sim_time() < tstart + timeout:
|
||||
# m = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
# pos = self.mav.location()
|
||||
# home_distance = self.get_distance(home, pos)
|
||||
# self.progress("Alt: %u HomeDistance: %.0f" %
|
||||
# (m.alt, home_distance))
|
||||
# if m.alt <= 1 and home_distance < distance_min:
|
||||
# self.progress("RTL Complete")
|
||||
# return True
|
||||
# return False
|
||||
#
|
||||
# @abc.abstractmethod
|
||||
# def test_mission(self, filename):
|
||||
# pass
|
||||
|
||||
def is_copter(self):
|
||||
return False
|
||||
|
||||
def is_sub(self):
|
||||
return False
|
||||
|
||||
def is_plane(self):
|
||||
return False
|
||||
|
||||
def is_rover(self):
|
||||
return False
|
||||
|
||||
def is_heli(self):
|
||||
return False
|
||||
|
||||
def initial_mode(self):
|
||||
'''return mode vehicle should start in with no RC inputs set'''
|
||||
|
|
|
|||
|
|
@ -89,26 +89,17 @@ class AutoTestQuadPlane(AutoTest):
|
|||
self.hasInit = True
|
||||
self.progress("Ready to start testing!")
|
||||
|
||||
# def test_arm_motors_radio(self):
|
||||
# super(AutotestQuadPlane, self).test_arm_motors_radio()
|
||||
#
|
||||
# def test_disarm_motors_radio(self):
|
||||
# super(AutotestQuadPlane, self).test_disarm_motors_radio()
|
||||
#
|
||||
# def test_autodisarm_motors(self):
|
||||
# super(AutotestQuadPlane, self).test_autodisarm_motors()
|
||||
#
|
||||
# def test_rtl(self, home, distance_min=10, timeout=250):
|
||||
# super(AutotestQuadPlane, self).test_rtl(home,
|
||||
# distance_min=10, timeout=250)
|
||||
#
|
||||
# def test_throttle_failsafe(self, home, distance_min=10,
|
||||
# side=60, timeout=180):
|
||||
# super(AutotestQuadPlane, self).test_throttle_failsafe(home,
|
||||
# distance_min=10, side=60, timeout=180)
|
||||
#
|
||||
# def test_mission(self, filename):
|
||||
# super(AutotestQuadPlane, self).test_mission(filename)
|
||||
def is_plane(self):
|
||||
return True
|
||||
|
||||
def get_rudder_channel(self):
|
||||
return int(self.get_parameter("RCMAP_YAW"))
|
||||
|
||||
def get_disarm_delay(self):
|
||||
return int(self.get_parameter("LAND_DISARMDELAY"))
|
||||
|
||||
def set_autodisarm_delay(self, delay):
|
||||
self.set_parameter("LAND_DISARMDELAY", delay)
|
||||
|
||||
def fly_mission(self, filename, fence, height_accuracy=-1):
|
||||
"""Fly a mission from a file."""
|
||||
|
|
|
|||
Loading…
Reference in New Issue