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

This commit is contained in:
Jason Short 2011-11-09 22:56:52 -08:00
parent ae1684a37c 7229b77fcf
commit 8ad94b9993
5 changed files with 180 additions and 148 deletions
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2
ArduCopter/ArduCopter.pde
View File

@ -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

59
Tools/autotest/arducopter.py
View File

@ -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)
wait_location(mav, homeloc, timeout=600, height_accuracy=height_accuracy)
if not wait_distance(mav, 30, timeout=120):
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)
takeoff(mavproxy, mav)
fly_square(mavproxy, mav)
loiter(mavproxy, mav)
land(mavproxy, mav)
if not arm_motors(mavproxy):
failed = True
if not takeoff(mavproxy, mav):
failed = True
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)
land(mavproxy, mav)
disarm_motors(mavproxy)
if not fly_mission(mavproxy, mav, os.path.join(testdir, "mission1.txt"), height_accuracy = 0.5, target_altitude=10):
failed = True
if not land(mavproxy, mav):
failed = True
if not disarm_motors(mavproxy):
failed = True
except pexpect.TIMEOUT, e:
failed = True

8
Tools/autotest/autotest.py
View File

@ -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)

3
Tools/autotest/util.py
View File

@ -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:

8
Tools/autotest/web/css/main.css
View File

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