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

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This commit is contained in:
Michael Oborne 2011-12-12 20:22:58 +08:00
commit 8afe383737
2 changed files with 16 additions and 3 deletions
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4
Tools/autotest/aircraft/arducopter/quad.nas
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@ -22,8 +22,8 @@ var update_quad = func( ) {
# airspeed-kt is actually in feet per second (FDM NET bug) # airspeed-kt is actually in feet per second (FDM NET bug)
setprop("/apm/airspeed", round10(0.3048*getprop("/velocities/airspeed-kt"))); setprop("/apm/airspeed", round10(0.3048*getprop("/velocities/airspeed-kt")));
setprop("/apm/motor_left", round10(getprop("/engines/engine[0]/rpm")/10.0)); setprop("/apm/motor_right", round10(getprop("/engines/engine[0]/rpm")/10.0));
setprop("/apm/motor_right", round10(getprop("/engines/engine[1]/rpm")/10.0)); setprop("/apm/motor_left", round10(getprop("/engines/engine[1]/rpm")/10.0));
setprop("/apm/motor_front", round10(getprop("/engines/engine[2]/rpm")/10.0)); setprop("/apm/motor_front", round10(getprop("/engines/engine[2]/rpm")/10.0));
setprop("/apm/motor_back", round10(getprop("/engines/engine[3]/rpm")/10.0)); setprop("/apm/motor_back", round10(getprop("/engines/engine[3]/rpm")/10.0));
} }

15
Tools/autotest/arducopter.py
View File

@ -267,7 +267,7 @@ def fly_ArduCopter(viewerip=None):
simquad = pexpect.spawn(simquad_cmd, logfile=sys.stdout, timeout=10) simquad = pexpect.spawn(simquad_cmd, logfile=sys.stdout, timeout=10)
simquad.delaybeforesend = 0 simquad.delaybeforesend = 0
util.pexpect_autoclose(simquad) util.pexpect_autoclose(simquad)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=1' options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip: if viewerip:
options += ' --out=%s:14550' % viewerip options += ' --out=%s:14550' % viewerip
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options) mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
@ -308,59 +308,72 @@ def fly_ArduCopter(viewerip=None):
homeloc = current_location(mav) homeloc = current_location(mav)
if not calibrate_level(mavproxy, mav): if not calibrate_level(mavproxy, mav):
print("calibrate_level failed")
failed = True failed = True
if not arm_motors(mavproxy, mav): if not arm_motors(mavproxy, mav):
print("arm_motors failed")
failed = True failed = True
if not takeoff(mavproxy, mav): if not takeoff(mavproxy, mav):
print("takeoff failed")
failed = True failed = True
print("# Fly A square") print("# Fly A square")
if not fly_square(mavproxy, mav): if not fly_square(mavproxy, mav):
print("fly_square failed")
failed = True failed = True
# save the stored mission # save the stored mission
print("# Save out the C7 mission") print("# Save out the C7 mission")
if not save_mission_to_file(mavproxy, mav, os.path.join(testdir, "ch7_mission.txt")): if not save_mission_to_file(mavproxy, mav, os.path.join(testdir, "ch7_mission.txt")):
print("save_mission_to_file failed")
failed = True failed = True
# Loiter for 10 seconds # Loiter for 10 seconds
print("# Loiter for 10 seconds") print("# Loiter for 10 seconds")
if not loiter(mavproxy, mav): if not loiter(mavproxy, mav):
print("loiter failed")
failed = True failed = True
#Fly a circle for 60 seconds #Fly a circle for 60 seconds
print("# Fly a Circle") print("# Fly a Circle")
if not circle(mavproxy, mav): if not circle(mavproxy, mav):
print("circle failed")
failed = True failed = True
# save the stored mission # save the stored mission
print("# Fly CH 7 saved mission") print("# Fly CH 7 saved mission")
if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10): if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
print("fly_mission failed")
failed = True failed = True
print("# Upload mission1") print("# Upload mission1")
if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission2.txt")): if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission2.txt")):
print("upload_mission_from_file failed")
failed = True failed = True
# this grabs our mission count # this grabs our mission count
print("# store mission1 locally") print("# store mission1 locally")
if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission2.txt")): if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission2.txt")):
print("load_mission_from_file failed")
failed = True failed = True
print("# Fly mission 2") print("# Fly mission 2")
if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10): if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
print("fly_mission failed")
failed = True failed = True
else: else:
print("Flew mission2 OK") print("Flew mission2 OK")
print("# Land") print("# Land")
if not land(mavproxy, mav): if not land(mavproxy, mav):
print("land failed")
failed = True failed = True
print("# disarm motors") print("# disarm motors")
if not disarm_motors(mavproxy, mav): if not disarm_motors(mavproxy, mav):
print("disarm_motors failed")
failed = True failed = True
except pexpect.TIMEOUT, e: except pexpect.TIMEOUT, e:
failed = True failed = True