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 2018-10-10 15:07:21 +02:00 committed by Peter Barker
parent badfd1d559
commit 8a7555bf56
7 changed files with 179 additions and 281 deletions

View File

@ -102,40 +102,11 @@ class AutoTestRover(AutoTest):
self.progress("Ready to start testing!")
# def reset_and_arm(self):
# """Reset RC, set to MANUAL and arm."""
# self.wait_heartbeat()
# # ensure all sticks in the middle
# self.set_rc_default()
# self.mavproxy.send('switch 1\n')
# self.wait_heartbeat()
# self.disarm_vehicle()
# self.wait_heartbeat()
# self.arm_vehicle()
#
def is_rover(self):
return True
# # TEST RC OVERRIDE
# # TEST RC OVERRIDE TIMEOUT
# def test_rtl(self, home, distance_min=5, timeout=250):
# """Return, land."""
# super(AutoTestRover, self).test_rtl(home, distance_min, timeout)
#
# def test_mission(self, filename):
# """Test a mission from a file."""
# self.progress("Test mission %s" % filename)
# num_wp = self.load_mission(filename)
# self.mavproxy.send('wp set 1\n')
# self.wait_heartbeat()
# self.mavproxy.send('switch 4\n') # auto mode
# self.wait_mode('AUTO')
# ret = self.wait_waypoint(0, num_wp-1, max_dist=5, timeout=500)
#
# if ret:
# self.mavproxy.expect("Mission Complete")
# self.wait_heartbeat()
# self.wait_mode('HOLD')
# self.progress("test: MISSION COMPLETE: passed=%s" % ret)
# return ret
def get_rudder_channel(self):
return int(self.get_parameter("RCMAP_ROLL"))
##########################################################
# TESTS DRIVE
@ -665,7 +636,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
def test_rc_override_cancel(self):
self.change_mode('MANUAL')
self.wait_ready_to_arm()
self.set_throttle_zero()
self.zero_throttle()
self.arm_vehicle()
# start moving forward a little:
normal_rc_throttle = 1700

View File

@ -125,6 +125,18 @@ class AutoTestCopter(AutoTest):
if self.copy_tlog:
shutil.copy(self.logfile, self.buildlog)
def is_copter(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("DISARM_DELAY"))
def set_autodisarm_delay(self, delay):
self.set_parameter("DISARM_DELAY", delay)
def user_takeoff(self, alt_min=30):
'''takeoff using mavlink takeoff command'''
self.run_cmd(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
@ -151,7 +163,7 @@ class AutoTestCopter(AutoTest):
if not self.armed():
self.progress("Waiting reading for arm")
self.wait_ready_to_arm(require_absolute=require_absolute)
self.set_rc(3, 1000)
self.zero_throttle()
self.arm_vehicle()
self.set_rc(3, takeoff_throttle)
self.wait_for_alt(alt_min=alt_min, timeout=timeout)
@ -491,7 +503,7 @@ class AutoTestCopter(AutoTest):
self.mav.motors_disarmed_wait()
self.progress("Reached failsafe home OK")
self.change_mode('STABILIZE')
self.set_rc(3, 1000)
self.zero_throttle()
return
self.reboot_sitl()
@ -612,13 +624,13 @@ class AutoTestCopter(AutoTest):
self.set_parameter("FENCE_ENABLE", 0)
if (alt <= 1 and home_distance < 10) or (not self.armed() and home_distance < 10):
# reduce throttle
self.set_rc(3, 1000)
self.zero_throttle()
self.change_mode("LAND")
self.progress("Waiting for disarm")
self.mav.motors_disarmed_wait()
self.progress("Reached home OK")
self.change_mode("STABILIZE")
self.set_rc(3, 1000)
self.zero_throttle()
# remove if we ever clear battery failsafe flag on disarm:
self.mavproxy.send('arm uncheck all\n')
self.arm_vehicle()
@ -670,7 +682,7 @@ class AutoTestCopter(AutoTest):
self.progress("Waiting for disarm")
self.mav.motors_disarmed_wait()
self.set_rc(3, 1000)
self.zero_throttle()
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
@ -824,7 +836,7 @@ class AutoTestCopter(AutoTest):
self.change_mode("STABILIZE")
self.wait_ready_to_arm()
self.set_rc(3, 1000)
self.zero_throttle()
self.arm_vehicle()
# switch into AUTO mode and raise throttle
@ -1201,7 +1213,7 @@ class AutoTestCopter(AutoTest):
self.wait_waypoint(0, num_wp-1, timeout=500)
# set throttle to minimum
self.set_rc(3, 1000)
self.zero_throttle()
# wait for disarm
self.mav.motors_disarmed_wait()
@ -1243,7 +1255,7 @@ class AutoTestCopter(AutoTest):
self.wait_waypoint(0, num_wp-1, timeout=500)
# set throttle to minimum
self.set_rc(3, 1000)
self.zero_throttle()
# wait for disarm
self.mav.motors_disarmed_wait()
@ -1444,7 +1456,7 @@ class AutoTestCopter(AutoTest):
ex = e
self.context_pop()
self.set_rc(3, 1000)
self.zero_throttle()
self.reboot_sitl()
if ex is not None:
@ -1535,7 +1547,7 @@ class AutoTestCopter(AutoTest):
self.progress("Exception caught")
ex = e
self.set_rc(3, 1000)
self.zero_throttle()
if ex is not None:
raise ex
@ -1690,7 +1702,7 @@ class AutoTestCopter(AutoTest):
self.progress("Waiting for location")
old_pos = self.mav.location()
self.set_rc(3, 1000)
self.zero_throttle()
self.takeoff(10, 1800)
# move away a little
self.set_rc(2, 1550)
@ -1709,7 +1721,7 @@ class AutoTestCopter(AutoTest):
self.progress("Exception caught")
ex = e
self.set_rc(3, 1000)
self.zero_throttle()
self.context_pop()
self.reboot_sitl()
self.progress("All done")
@ -1911,7 +1923,7 @@ class AutoTestCopter(AutoTest):
self.progress("Exception caught")
ex = e
self.set_rc(3, 1000)
self.zero_throttle()
if ex is not None:
raise ex
@ -1971,7 +1983,7 @@ class AutoTestCopter(AutoTest):
self.progress("Exception caught")
ex = e
self.set_rc(3, 1000)
self.zero_throttle()
if ex is not None:
raise ex
@ -2154,7 +2166,7 @@ class AutoTestCopter(AutoTest):
self.progress("Waiting for location")
self.mav.location()
self.set_rc(3, 1000)
self.zero_throttle()
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_heartbeat()
self.wait_mode('STABILIZE')
@ -2218,7 +2230,7 @@ class AutoTestCopter(AutoTest):
ex = e
self.context_pop()
self.set_rc(3, 1000)
self.zero_throttle()
self.reboot_sitl()
if ex is not None:
@ -2590,7 +2602,7 @@ class AutoTestCopter(AutoTest):
self.progress("Waiting for location")
self.mav.location()
self.set_rc(3, 1000)
self.zero_throttle()
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_heartbeat()
self.wait_mode('STABILIZE')
@ -2627,7 +2639,7 @@ class AutoTestCopter(AutoTest):
ex = e
self.context_pop()
self.set_rc(3, 1000)
self.zero_throttle()
self.reboot_sitl()
self.progress("All done")
@ -2817,6 +2829,9 @@ class AutoTestHeli(AutoTestCopter):
AVCHOME.heading)
self.frame = 'heli'
def is_heli(self):
return True
def rc_defaults(self):
ret = super(AutoTestHeli, self).rc_defaults()
ret[8] = 1000

View File

@ -93,6 +93,18 @@ class AutoTestPlane(AutoTest):
self.hasInit = True
self.progress("Ready to start testing!")
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 takeoff(self):
"""Takeoff get to 30m altitude."""
@ -752,6 +764,8 @@ class AutoTestPlane(AutoTest):
("TestFlaps", "Flaps", self.fly_flaps),
("ArmFeatures", "Arm features", self.test_arm_feature),
("MainFlight",
"Lots of things in one flight",
self.test_main_flight),

View File

@ -95,6 +95,9 @@ class AutoTestSub(AutoTest):
self.progress("Ready to start testing!")
def is_sub(self):
return True
def dive_manual(self):
self.wait_ready_to_arm()
self.arm_vehicle()

View File

@ -306,6 +306,7 @@ def run_specific_test(step, *args, **kwargs):
"drive.APMrover2": apmrover2.AutoTestRover,
"drive.BalanceBot": balancebot.AutoTestBalanceBot,
"fly.CopterAVC": arducopter.AutoTestHeli,
"dive.ArduSub": ardusub.AutoTestSub,
}
tester_class = tester_class_map[testname]
tester = tester_class(*args, **kwargs)

View File

@ -683,9 +683,9 @@ class AutoTest(ABC):
return True
raise SetRCTimeout("Failed to send RC commands to channel %s" % str(chan))
def set_throttle_zero(self):
def zero_throttle(self):
"""Set throttle to zero."""
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_GROUND_ROVER:
if self.is_rover():
self.set_rc(3, 1500)
else:
self.set_rc(3, 1000)
@ -716,19 +716,12 @@ class AutoTest(ABC):
self.set_rc(chan, out_trim)
def get_rudder_channel(self):
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]:
return int(self.get_parameter("RCMAP_YAW"))
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_FIXED_WING:
return int(self.get_parameter("RCMAP_YAW"))
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_GROUND_ROVER:
return int(self.get_parameter("RCMAP_ROLL"))
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_SUBMARINE:
raise ErrorException("Arming with rudder is not supported by Submarine")
"""Return the Rudder channel number as set in parameter."""
raise ErrorException("Rudder parameter is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame))
def get_disarm_delay(self):
"""Return disarm delay value."""
raise ErrorException("Disarm delay is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame))
def armed(self):
"""Return true if vehicle is armed and safetyoff"""
@ -752,7 +745,7 @@ class AutoTest(ABC):
if self.mav.motors_armed():
self.progress("Motors ARMED")
return True
raise AutoTestTimeoutException("Unable to ARM with mavlink")
raise AutoTestTimeoutException("Failed to ARM with mavlink")
def disarm_vehicle(self, timeout=20):
"""Disarm vehicle with mavlink disarm message."""
@ -772,7 +765,7 @@ class AutoTest(ABC):
if not self.mav.motors_armed():
self.progress("Motors DISARMED")
return True
raise AutoTestTimeoutException("Unable to DISARM with mavlink")
raise AutoTestTimeoutException("Failed to DISARM with mavlink")
def mavproxy_arm_vehicle(self):
"""Arm vehicle with mavlink arm message send from MAVProxy."""
@ -807,7 +800,7 @@ class AutoTest(ABC):
print("Not armed after %f seconds" % (tdelta))
if tdelta > timeout:
break
self.progress("FAILED TO ARM WITH RADIO")
self.progress("Failed to ARM with radio")
self.set_output_to_trim(self.get_rudder_channel())
return False
@ -824,7 +817,7 @@ class AutoTest(ABC):
self.set_output_to_trim(self.get_rudder_channel())
self.progress("Disarm in %ss" % disarm_delay) # TODO check disarming time
return True
self.progress("FAILED TO DISARM WITH RADIO")
self.progress("Failed to DISARM with radio")
self.set_output_to_trim(self.get_rudder_channel())
return False
@ -838,7 +831,7 @@ class AutoTest(ABC):
if self.mav.motors_armed():
self.progress("MOTORS ARMED OK WITH SWITCH")
return True
self.progress("FAILED TO ARM WITH SWITCH")
self.progress("Failed to ARM with switch")
return False
def disarm_motors_with_switch(self, switch_chan, timeout=20):
@ -851,26 +844,28 @@ class AutoTest(ABC):
if not self.mav.motors_armed():
self.progress("MOTORS DISARMED OK WITH SWITCH")
return True
self.progress("FAILED TO DISARM WITH SWITCH")
self.progress("Failed to DISARM with switch")
return False
def autodisarm_motors(self):
"""Autodisarm motors."""
self.progress("Autodisarming motors")
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_GROUND_ROVER: # NOT IMPLEMENTED ON ROVER
self.progress("MOTORS AUTODISARMED OK")
return True
def wait_autodisarm_motors(self):
"""Wait for Autodisarm motors within disarm delay
this feature is only available in copter (DISARM_DELAY) and plane (LAND_DISARMDELAY)."""
self.progress("Wait autodisarming motors")
disarm_delay = self.get_disarm_delay()
tstart = self.get_sim_time()
timeout = 15
timeout = disarm_delay * 2
while self.get_sim_time() < tstart + timeout:
self.wait_heartbeat()
if not self.mav.motors_armed():
disarm_delay = self.get_sim_time() - tstart
disarm_time = self.get_sim_time() - tstart
self.progress("MOTORS AUTODISARMED")
self.progress("Autodisarm in %ss" % disarm_delay) # TODO check disarming time
return True
self.progress("FAILED TO AUTODISARM")
return False
self.progress("Autodisarm in %ss, expect less than %ss" % (disarm_time, disarm_delay))
return disarm_time <= disarm_delay
raise AutoTestTimeoutException("Failed to AUTODISARM")
def set_autodisarm_delay(self, delay):
"""Set autodisarm delay"""
raise ErrorException("Auto disarm is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame))
@staticmethod
def should_fetch_all_for_parameter_change(param_name):
@ -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)
@ -1696,19 +1672,13 @@ 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]:
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 AutoTestTimeoutException():
pass
except ValueError:
pass
if self.arm_motors_with_rc_input():
@ -1716,11 +1686,10 @@ class AutoTest(ABC):
"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.zero_throttle()
self.set_rc(arming_switch, 1000)
# Sub doesn't have 'stick commands'
if self.mav.mav_type != mavutil.mavlink.MAV_TYPE_SUBMARINE:
self.start_test("Test arming failure with ARMING_RUDDER=0")
self.set_parameter("ARMING_RUDDER", 0)
if self.arm_motors_with_rc_input():
@ -1743,12 +1712,7 @@ 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]:
if self.is_copter():
self.start_test("Test arming failure with interlock enabled")
self.set_rc(interlock_channel, 2000)
if self.arm_motors_with_rc_input():
@ -1761,7 +1725,7 @@ class AutoTest(ABC):
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:
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
@ -1769,7 +1733,7 @@ class AutoTest(ABC):
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 20:
self.set_rc(8, 1000)
self.set_rc(interlock_channel, 1000)
break # success!
m = self.mav.recv_match(type='SERVO_OUTPUT_RAW',
blocking=True,
@ -1778,16 +1742,15 @@ class AutoTest(ABC):
continue
m_value = getattr(m, channel_field, None)
if m_value is None:
self.set_rc(8, 1000)
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(8, 1000)
self.set_rc(interlock_channel, 1000)
raise NotAchievedException("Motor interlock was changed while disarmed")
self.set_rc(8, 1000)
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'''

View File

@ -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."""