Merge branch 'master' of https://code.google.com/p/ardupilot-mega

ArduCopter/ArduCopter.pde

@@ -1171,7 +1171,7 @@ static void read_AHRS(void)
 {
 	// Perform IMU calculations and get attitude info
 	//-----------------------------------------------
-	#if HIL_MODE == HIL_MODE_SENSORS
+	#if HIL_MODE != HIL_MODE_DISABLED
 		// update hil before dcm update
 		gcs_update();
 	#endif

Tools/autotest/arducopter.py

@@ -91,6 +91,7 @@ def arm_motors(mavproxy):
     mavproxy.expect('APM: ARMING MOTORS')
     mavproxy.send('rc 4 1500\n')
     print("MOTORS ARMED OK")
+    return True
 
 def disarm_motors(mavproxy):
     '''disarm motors'''
@@ -101,6 +102,7 @@ def disarm_motors(mavproxy):
     mavproxy.expect('APM: DISARMING MOTORS')
     mavproxy.send('rc 4 1500\n')
     print("MOTORS DISARMED OK")
+    return True
 
 
 def takeoff(mavproxy, mav):
@@ -110,6 +112,7 @@ def takeoff(mavproxy, mav):
     mavproxy.send('rc 3 1500\n')
     wait_altitude(mav, 30, 40)
     print("TAKEOFF COMPLETE")
+    return True
 
 
 def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
@@ -162,16 +165,18 @@ def wait_distance(mav, distance, accuracy=5, timeout=30):
     return False
 
 
-def wait_location(mav, loc, accuracy=5, timeout=30, height_accuracy=-1):
+def wait_location(mav, loc, accuracy=5, timeout=30, target_altitude=None, height_accuracy=-1):
     '''wait for arrival at a location'''
     tstart = time.time()
+    if target_altitude is None:
+        target_altitude = loc.alt
     while time.time() < tstart + timeout:
         m = mav.recv_match(type='GPS_RAW', blocking=True)
         pos = current_location(mav)
         delta = get_distance(loc, pos)
         print("Distance %.2f meters" % delta)
         if delta <= accuracy:
-            if height_accuracy != -1 and math.fabs(pos.alt - loc.alt) > height_accuracy:
+            if height_accuracy != -1 and math.fabs(pos.alt - target_altitude) > height_accuracy:
                 continue
             print("Reached location (%.2f meters)" % delta)
             return True
@@ -184,6 +189,7 @@ def fly_square(mavproxy, mav, side=50, timeout=120):
     mavproxy.send('switch 6\n')
     mavproxy.expect('STABILIZE>')
     tstart = time.time()
+    failed = False
     mavproxy.send('rc 3 1430\n')
     mavproxy.send('rc 4 1610\n')
     if not wait_heading(mav, 0):
@@ -192,24 +198,28 @@ def fly_square(mavproxy, mav, side=50, timeout=120):
 
     print("Going north %u meters" % side)
     mavproxy.send('rc 2 1390\n')
-    ok = wait_distance(mav, side)
+    if not wait_distance(mav, side):
+        failed = True
     mavproxy.send('rc 2 1500\n')
 
     print("Going east %u meters" % side)
     mavproxy.send('rc 1 1610\n')
-    ok = wait_distance(mav, side)
+    if not wait_distance(mav, side):
+        failed = True
     mavproxy.send('rc 1 1500\n')
 
     print("Going south %u meters" % side)
     mavproxy.send('rc 2 1610\n')
-    ok = wait_distance(mav, side)
+    if not wait_distance(mav, side):
+        failed = True
     mavproxy.send('rc 2 1500\n')
 
     print("Going west %u meters" % side)
     mavproxy.send('rc 1 1390\n')
-    ok = wait_distance(mav, side)
+    if not wait_distance(mav, side):
+        failed = True
     mavproxy.send('rc 1 1500\n')
-    return ok
+    return not failed
 
 
 
@@ -238,7 +248,7 @@ def land(mavproxy, mav, timeout=60):
         return False
 
 
-def fly_mission(mavproxy, mav, filename, height_accuracy=-1):
+def fly_mission(mavproxy, mav, filename, height_accuracy=-1, target_altitude=None):
     '''fly a mission from a file'''
     global homeloc
     mavproxy.send('wp load %s\n' % filename)
@@ -247,8 +257,11 @@ def fly_mission(mavproxy, mav, filename, height_accuracy=-1):
     mavproxy.expect('Requesting [0-9]+ waypoints')
     mavproxy.send('switch 1\n') # auto mode
     mavproxy.expect('AUTO>')
-    wait_distance(mav, 30, timeout=120)
+    if not wait_distance(mav, 30, timeout=120):
-    wait_location(mav, homeloc, timeout=600, height_accuracy=height_accuracy)
+        return False
+    if not wait_location(mav, homeloc, timeout=600, target_altitude=target_altitude, height_accuracy=height_accuracy):
+        return False
+    return True
 
 
 def setup_rc(mavproxy):
@@ -301,7 +314,7 @@ def fly_ArduCopter():
     util.expect_setup_callback(mavproxy, expect_callback)
 
     # start hil_quad.py
-    hquad = pexpect.spawn(util.reltopdir('../HILTest/hil_quad.py') + ' --fgout=192.168.2.15:9123 --home=%s' % HOME_LOCATION,
+    hquad = pexpect.spawn(util.reltopdir('../HILTest/hil_quad.py') + ' --fgout=192.168.2.15:9123 --fgrate=200 --home=%s' % HOME_LOCATION,
                         logfile=sys.stdout, timeout=10)
     util.pexpect_autoclose(hquad)
     hquad.expect('Starting at')
@@ -322,15 +335,23 @@ def fly_ArduCopter():
         mav.recv_match(type='GPS_RAW', blocking=True)
         setup_rc(mavproxy)
         homeloc = current_location(mav)
-        arm_motors(mavproxy)
+        if not arm_motors(mavproxy):
-        takeoff(mavproxy, mav)
+            failed = True
-        fly_square(mavproxy, mav)
+        if not takeoff(mavproxy, mav):
-        loiter(mavproxy, mav)
+            failed = True
-        land(mavproxy, mav)
+        if not fly_square(mavproxy, mav):
+            failed = True
+        if not loiter(mavproxy, mav):
+            failed = True
+        if not land(mavproxy, mav):
+            failed = True
         #fly_mission(mavproxy, mav, os.path.join(testdir, "mission_ttt.txt"), height_accuracy=0.2)
-        fly_mission(mavproxy, mav, os.path.join(testdir, "mission1.txt"), height_accuracy = 0.2)
+        if not fly_mission(mavproxy, mav, os.path.join(testdir, "mission1.txt"), height_accuracy = 0.5, target_altitude=10):
-        land(mavproxy, mav)
+            failed = True
-        disarm_motors(mavproxy)
+        if not land(mavproxy, mav):
+            failed = True
+        if not disarm_motors(mavproxy):
+            failed = True
     except pexpect.TIMEOUT, e:
         failed = True
 

Tools/autotest/autotest.py

@@ -222,16 +222,16 @@ def run_tests(steps):
                 print(">>>> FAILED STEP: %s at %s" % (step, time.asctime()))
                 passed = False
                 failed.append(step)
-                results.add(step, "FAILED", time.time() - t1)
+                results.add(step, '<span class="failed-text">FAILED</span>', time.time() - t1)
                 continue
         except Exception, msg:
             passed = False
             failed.append(step)
             print(">>>> FAILED STEP: %s at %s (%s)" % (step, time.asctime(), msg))
             traceback.print_exc(file=sys.stdout)
-            results.add(step, "FAILED", time.time() - t1)
+            results.add(step, '<span class="failed-text">FAILED</span>', time.time() - t1)
             pass
-        results.add(step, "PASSED", time.time() - t1)
+        results.add(step, '<span class="passed-text">PASSED</span>', time.time() - t1)
         print(">>>> PASSED STEP: %s at %s" % (step, time.asctime()))
     if not passed:
         print("FAILED %u tests: %s" % (len(failed), failed))
@@ -244,9 +244,11 @@ def run_tests(steps):
     results.addfile('ArduPlane build log', 'ArduPlane.txt')
     results.addfile('ArduPlane code size', 'ArduPlane.sizes.txt')
     results.addfile('ArduPlane stack sizes', 'ArduPlane.framesizes.txt')
+    results.addfile('ArduPlane defaults', 'ArduPlane.defaults.txt')
     results.addfile('ArduCopter build log', 'ArduCopter.txt')
     results.addfile('ArduCopter code size', 'ArduCopter.sizes.txt')
     results.addfile('ArduCopter stack sizes', 'ArduCopter.framesizes.txt')
+    results.addfile('ArduCopter defaults', 'ArduCopter.defaults.txt')
 
     write_webresults(results)
 

Tools/autotest/util.py

@@ -106,11 +106,12 @@ def start_SIL(atype, valgrind=False, wipe=False, CLI=False):
     return ret
 
 def start_MAVProxy_SIL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760',
+                       fgrate=200,
                        options=None, logfile=sys.stdout):
     '''launch mavproxy connected to a SIL instance'''
     global close_list
     MAVPROXY = reltopdir('../MAVProxy/mavproxy.py')
-    cmd = MAVPROXY + ' --master=%s' % master
+    cmd = MAVPROXY + ' --master=%s --fgrate=%u' % (master, fgrate)
     if setup:
         cmd += ' --setup'
     if aircraft is None:

Tools/autotest/web/css/main.css

@@ -56,6 +56,14 @@ h2 {
 	color:#D14836;
 }
 
+.passed-text {
+	color:green;
+}
+
+.failed-text {
+	color:red;
+}
+
 
 #main {
 	padding-top:0px;