mirror of https://github.com/ArduPilot/ardupilot
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
This commit is contained in:
Jason Short
commit
8ad94b9993
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@ -1171,7 +1171,7 @@ static void read_AHRS(void)
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{
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// Perform IMU calculations and get attitude info
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//-----------------------------------------------
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#if HIL_MODE == HIL_MODE_SENSORS
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#if HIL_MODE != HIL_MODE_DISABLED
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// update hil before dcm update
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gcs_update();
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#endif
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@ -91,6 +91,7 @@ def arm_motors(mavproxy):
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mavproxy.expect('APM: ARMING MOTORS')
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mavproxy.send('rc 4 1500\n')
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print("MOTORS ARMED OK")
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return True
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def disarm_motors(mavproxy):
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'''disarm motors'''
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@ -101,6 +102,7 @@ def disarm_motors(mavproxy):
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mavproxy.expect('APM: DISARMING MOTORS')
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mavproxy.send('rc 4 1500\n')
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print("MOTORS DISARMED OK")
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return True
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def takeoff(mavproxy, mav):
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@ -110,6 +112,7 @@ def takeoff(mavproxy, mav):
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mavproxy.send('rc 3 1500\n')
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wait_altitude(mav, 30, 40)
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print("TAKEOFF COMPLETE")
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return True
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def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
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@ -162,16 +165,18 @@ def wait_distance(mav, distance, accuracy=5, timeout=30):
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return False
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def wait_location(mav, loc, accuracy=5, timeout=30, height_accuracy=-1):
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def wait_location(mav, loc, accuracy=5, timeout=30, target_altitude=None, height_accuracy=-1):
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'''wait for arrival at a location'''
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tstart = time.time()
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if target_altitude is None:
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target_altitude = loc.alt
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='GPS_RAW', blocking=True)
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pos = current_location(mav)
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delta = get_distance(loc, pos)
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print("Distance %.2f meters" % delta)
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if delta <= accuracy:
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if height_accuracy != -1 and math.fabs(pos.alt - loc.alt) > height_accuracy:
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if height_accuracy != -1 and math.fabs(pos.alt - target_altitude) > height_accuracy:
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continue
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print("Reached location (%.2f meters)" % delta)
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return True
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@ -184,6 +189,7 @@ def fly_square(mavproxy, mav, side=50, timeout=120):
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mavproxy.send('switch 6\n')
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mavproxy.expect('STABILIZE>')
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tstart = time.time()
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failed = False
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mavproxy.send('rc 3 1430\n')
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mavproxy.send('rc 4 1610\n')
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if not wait_heading(mav, 0):
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@ -192,24 +198,28 @@ def fly_square(mavproxy, mav, side=50, timeout=120):
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print("Going north %u meters" % side)
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mavproxy.send('rc 2 1390\n')
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ok = wait_distance(mav, side)
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if not wait_distance(mav, side):
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failed = True
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mavproxy.send('rc 2 1500\n')
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print("Going east %u meters" % side)
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mavproxy.send('rc 1 1610\n')
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ok = wait_distance(mav, side)
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if not wait_distance(mav, side):
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failed = True
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mavproxy.send('rc 1 1500\n')
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print("Going south %u meters" % side)
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mavproxy.send('rc 2 1610\n')
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ok = wait_distance(mav, side)
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if not wait_distance(mav, side):
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failed = True
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mavproxy.send('rc 2 1500\n')
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print("Going west %u meters" % side)
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mavproxy.send('rc 1 1390\n')
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ok = wait_distance(mav, side)
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if not wait_distance(mav, side):
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failed = True
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mavproxy.send('rc 1 1500\n')
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return ok
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return not failed
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@ -238,7 +248,7 @@ def land(mavproxy, mav, timeout=60):
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return False
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def fly_mission(mavproxy, mav, filename, height_accuracy=-1):
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def fly_mission(mavproxy, mav, filename, height_accuracy=-1, target_altitude=None):
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'''fly a mission from a file'''
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global homeloc
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mavproxy.send('wp load %s\n' % filename)
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@ -247,8 +257,11 @@ def fly_mission(mavproxy, mav, filename, height_accuracy=-1):
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mavproxy.expect('Requesting [0-9]+ waypoints')
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mavproxy.send('switch 1\n') # auto mode
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mavproxy.expect('AUTO>')
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wait_distance(mav, 30, timeout=120)
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wait_location(mav, homeloc, timeout=600, height_accuracy=height_accuracy)
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if not wait_distance(mav, 30, timeout=120):
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return False
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if not wait_location(mav, homeloc, timeout=600, target_altitude=target_altitude, height_accuracy=height_accuracy):
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return False
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return True
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def setup_rc(mavproxy):
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@ -301,7 +314,7 @@ def fly_ArduCopter():
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util.expect_setup_callback(mavproxy, expect_callback)
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# start hil_quad.py
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hquad = pexpect.spawn(util.reltopdir('../HILTest/hil_quad.py') + ' --fgout=192.168.2.15:9123 --home=%s' % HOME_LOCATION,
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hquad = pexpect.spawn(util.reltopdir('../HILTest/hil_quad.py') + ' --fgout=192.168.2.15:9123 --fgrate=200 --home=%s' % HOME_LOCATION,
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logfile=sys.stdout, timeout=10)
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util.pexpect_autoclose(hquad)
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hquad.expect('Starting at')
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@ -322,15 +335,23 @@ def fly_ArduCopter():
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mav.recv_match(type='GPS_RAW', blocking=True)
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setup_rc(mavproxy)
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homeloc = current_location(mav)
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arm_motors(mavproxy)
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takeoff(mavproxy, mav)
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fly_square(mavproxy, mav)
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loiter(mavproxy, mav)
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land(mavproxy, mav)
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if not arm_motors(mavproxy):
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failed = True
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if not takeoff(mavproxy, mav):
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failed = True
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if not fly_square(mavproxy, mav):
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failed = True
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if not loiter(mavproxy, mav):
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failed = True
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if not land(mavproxy, mav):
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failed = True
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#fly_mission(mavproxy, mav, os.path.join(testdir, "mission_ttt.txt"), height_accuracy=0.2)
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fly_mission(mavproxy, mav, os.path.join(testdir, "mission1.txt"), height_accuracy = 0.2)
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land(mavproxy, mav)
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disarm_motors(mavproxy)
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if not fly_mission(mavproxy, mav, os.path.join(testdir, "mission1.txt"), height_accuracy = 0.5, target_altitude=10):
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failed = True
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if not land(mavproxy, mav):
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failed = True
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if not disarm_motors(mavproxy):
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failed = True
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except pexpect.TIMEOUT, e:
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failed = True
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@ -222,16 +222,16 @@ def run_tests(steps):
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print(">>>> FAILED STEP: %s at %s" % (step, time.asctime()))
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passed = False
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failed.append(step)
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results.add(step, "FAILED", time.time() - t1)
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results.add(step, '<span class="failed-text">FAILED</span>', time.time() - t1)
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continue
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except Exception, msg:
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passed = False
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failed.append(step)
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print(">>>> FAILED STEP: %s at %s (%s)" % (step, time.asctime(), msg))
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traceback.print_exc(file=sys.stdout)
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results.add(step, "FAILED", time.time() - t1)
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results.add(step, '<span class="failed-text">FAILED</span>', time.time() - t1)
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pass
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results.add(step, "PASSED", time.time() - t1)
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results.add(step, '<span class="passed-text">PASSED</span>', time.time() - t1)
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print(">>>> PASSED STEP: %s at %s" % (step, time.asctime()))
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if not passed:
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print("FAILED %u tests: %s" % (len(failed), failed))
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@ -244,9 +244,11 @@ def run_tests(steps):
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results.addfile('ArduPlane build log', 'ArduPlane.txt')
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results.addfile('ArduPlane code size', 'ArduPlane.sizes.txt')
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results.addfile('ArduPlane stack sizes', 'ArduPlane.framesizes.txt')
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results.addfile('ArduPlane defaults', 'ArduPlane.defaults.txt')
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results.addfile('ArduCopter build log', 'ArduCopter.txt')
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results.addfile('ArduCopter code size', 'ArduCopter.sizes.txt')
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results.addfile('ArduCopter stack sizes', 'ArduCopter.framesizes.txt')
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results.addfile('ArduCopter defaults', 'ArduCopter.defaults.txt')
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write_webresults(results)
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@ -106,11 +106,12 @@ def start_SIL(atype, valgrind=False, wipe=False, CLI=False):
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return ret
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def start_MAVProxy_SIL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760',
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fgrate=200,
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options=None, logfile=sys.stdout):
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'''launch mavproxy connected to a SIL instance'''
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global close_list
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MAVPROXY = reltopdir('../MAVProxy/mavproxy.py')
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cmd = MAVPROXY + ' --master=%s' % master
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cmd = MAVPROXY + ' --master=%s --fgrate=%u' % (master, fgrate)
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if setup:
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cmd += ' --setup'
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if aircraft is None:
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@ -1,124 +1,132 @@
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@charset "utf-8";
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/* CSS Document */
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/* Background-Styles */
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html {
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overflow-y: scroll;
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}
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body {
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font-family:Helvetica;
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margin:0px;
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padding:0px;
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background-color: #fff;
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background-image: url(images/bg.png);
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}
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#logo {
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background-image:url(images/logo.png);
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background-repeat:no-repeat;
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height: 120px;
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width: 420px;
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-moz-box-shadow: 2px 2px 5px #888;
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-webkit-box-shadow: 2px 2px 5px #888;
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box-shadow: 2px 2px 5px #888;
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background-color: #000;
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}
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h2 {
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text-shadow: #ccc 0px 1px 0px;
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text-decoration:none;
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color:#D14836;
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padding-top: 0px;
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padding-right: 5px;
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padding-bottom: 5px;
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padding-left: 5px;
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}
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#git {
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background-color: #FFF;
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font-size: 15px;
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display: auto;
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padding: 10px;
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border: 1px solid #CCC;
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position: relative;
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-moz-box-shadow: 2px 2px 5px #888;
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-webkit-box-shadow: 2px 2px 5px #888;
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box-shadow: 2px 2px 5px #888;
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}
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#git a {
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color:#00F;
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font-weight: normal;
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}
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#git a:hover {
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color:#D14836;
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}
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#main {
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padding-top:0px;
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min-width: 420px;
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margin-top: 0;
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margin-right: auto;
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margin-bottom: 0;
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margin-left: auto;
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padding-right: 20px;
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padding-bottom: 50px;
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padding-left: 20px;
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}
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ul#testresults {
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background-color: #FFF;
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display: block;
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padding: 10px;
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border: 1px solid #CCC;
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list-style-type: none;
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position: relative;
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-moz-box-shadow: 2px 2px 5px #888;
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-webkit-box-shadow: 2px 2px 5px #888;
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box-shadow: 2px 2px 5px #888;
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}
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ul#testresults li {
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list-style-type: none;
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display: block;
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background-color: #eef1f1;
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margin: 5px;
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padding: 5px;
|
||||
}
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|
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ul#testlogs {
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background-color: #FFF;
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display: block;
|
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padding: 10px;
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border: 1px solid #CCC;
|
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list-style-type: none;
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position: relative;
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-moz-box-shadow: 2px 2px 5px #888;
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-webkit-box-shadow: 2px 2px 5px #888;
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box-shadow: 2px 2px 5px #888;
|
||||
}
|
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|
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ul#testlogs li {
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text-decoration:none;
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list-style-type: none;
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display: block;
|
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background-color: #eef1f1;
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margin: 5px;
|
||||
padding: 5px;
|
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font-size: 15px;
|
||||
}
|
||||
|
||||
|
||||
ul#testlogs li a {
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text-decoration:none;
|
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color:#8aa19c;
|
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font-weight: bold;
|
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font-size: 12px;
|
||||
}
|
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|
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ul#testlogs li a:hover {
|
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color:#D14836;
|
||||
}
|
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@charset "utf-8";
|
||||
/* CSS Document */
|
||||
|
||||
/* Background-Styles */
|
||||
html {
|
||||
overflow-y: scroll;
|
||||
}
|
||||
|
||||
body {
|
||||
font-family:Helvetica;
|
||||
margin:0px;
|
||||
padding:0px;
|
||||
background-color: #fff;
|
||||
background-image: url(images/bg.png);
|
||||
}
|
||||
|
||||
#logo {
|
||||
background-image:url(images/logo.png);
|
||||
background-repeat:no-repeat;
|
||||
height: 120px;
|
||||
width: 420px;
|
||||
-moz-box-shadow: 2px 2px 5px #888;
|
||||
-webkit-box-shadow: 2px 2px 5px #888;
|
||||
box-shadow: 2px 2px 5px #888;
|
||||
background-color: #000;
|
||||
}
|
||||
|
||||
h2 {
|
||||
text-shadow: #ccc 0px 1px 0px;
|
||||
text-decoration:none;
|
||||
color:#D14836;
|
||||
padding-top: 0px;
|
||||
padding-right: 5px;
|
||||
padding-bottom: 5px;
|
||||
padding-left: 5px;
|
||||
}
|
||||
|
||||
#git {
|
||||
background-color: #FFF;
|
||||
font-size: 15px;
|
||||
display: auto;
|
||||
padding: 10px;
|
||||
border: 1px solid #CCC;
|
||||
position: relative;
|
||||
-moz-box-shadow: 2px 2px 5px #888;
|
||||
-webkit-box-shadow: 2px 2px 5px #888;
|
||||
box-shadow: 2px 2px 5px #888;
|
||||
}
|
||||
|
||||
#git a {
|
||||
color:#00F;
|
||||
font-weight: normal;
|
||||
}
|
||||
|
||||
#git a:hover {
|
||||
color:#D14836;
|
||||
}
|
||||
|
||||
.passed-text {
|
||||
color:green;
|
||||
}
|
||||
|
||||
.failed-text {
|
||||
color:red;
|
||||
}
|
||||
|
||||
|
||||
#main {
|
||||
padding-top:0px;
|
||||
min-width: 420px;
|
||||
margin-top: 0;
|
||||
margin-right: auto;
|
||||
margin-bottom: 0;
|
||||
margin-left: auto;
|
||||
padding-right: 20px;
|
||||
padding-bottom: 50px;
|
||||
padding-left: 20px;
|
||||
}
|
||||
|
||||
ul#testresults {
|
||||
background-color: #FFF;
|
||||
display: block;
|
||||
padding: 10px;
|
||||
border: 1px solid #CCC;
|
||||
list-style-type: none;
|
||||
position: relative;
|
||||
-moz-box-shadow: 2px 2px 5px #888;
|
||||
-webkit-box-shadow: 2px 2px 5px #888;
|
||||
box-shadow: 2px 2px 5px #888;
|
||||
}
|
||||
|
||||
ul#testresults li {
|
||||
list-style-type: none;
|
||||
display: block;
|
||||
background-color: #eef1f1;
|
||||
margin: 5px;
|
||||
padding: 5px;
|
||||
}
|
||||
|
||||
ul#testlogs {
|
||||
background-color: #FFF;
|
||||
display: block;
|
||||
padding: 10px;
|
||||
border: 1px solid #CCC;
|
||||
list-style-type: none;
|
||||
position: relative;
|
||||
-moz-box-shadow: 2px 2px 5px #888;
|
||||
-webkit-box-shadow: 2px 2px 5px #888;
|
||||
box-shadow: 2px 2px 5px #888;
|
||||
}
|
||||
|
||||
ul#testlogs li {
|
||||
text-decoration:none;
|
||||
list-style-type: none;
|
||||
display: block;
|
||||
background-color: #eef1f1;
|
||||
margin: 5px;
|
||||
padding: 5px;
|
||||
font-size: 15px;
|
||||
}
|
||||
|
||||
|
||||
ul#testlogs li a {
|
||||
text-decoration:none;
|
||||
color:#8aa19c;
|
||||
font-weight: bold;
|
||||
font-size: 12px;
|
||||
}
|
||||
|
||||
ul#testlogs li a:hover {
|
||||
color:#D14836;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue