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Autotest: Refactor failsafe tests

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This commit is contained in:
Matt Lawrence 2019-09-28 01:41:56 -04:00 committed by Randy Mackay
parent f71ef4c7ab
commit 8d2a624fcc
2 changed files with 478 additions and 91 deletions
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568
Tools/autotest/arducopter.py
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@ -152,6 +152,47 @@ class AutoTestCopter(AutoTest):
def hover(self, hover_throttle=1500): def hover(self, hover_throttle=1500):
self.set_rc(3, hover_throttle) self.set_rc(3, hover_throttle)
#Climb/descend to a given altitude
def setAlt(self, desiredAlt=50):
pos = self.mav.location(relative_alt=True)
if pos.alt > desiredAlt:
self.set_rc(3, 1300)
self.wait_altitude((desiredAlt-5), desiredAlt, relative=True)
if pos.alt < (desiredAlt-5):
self.set_rc(3, 1800)
self.wait_altitude((desiredAlt-5), desiredAlt, relative=True)
self.hover()
# Takeoff, climb to given altitude, and fly east for 10 seconds
def takeoffAndMoveAway(self, dAlt=50, dDist=50):
self.progress("Centering sticks")
self.set_rc(1, 1500)
self.set_rc(2, 1500)
self.set_rc(3, 1000)
self.set_rc(4, 1500)
self.takeoff(alt_min=dAlt)
self.change_mode("ALT_HOLD")
self.progress("Yaw to east")
self.set_rc(4, 1580)
self.wait_heading(90)
self.set_rc(4, 1500)
self.progress("Fly eastbound away from home")
self.set_rc(2, 1800)
self.wait_seconds(10)
self.set_rc(2, 1500)
self.hover()
self.progress("Cotper staging 50 meters east of home at 50 meters altitude In mode Alt Hold")
# Start and stop the GCS heartbeat for GCS failsafe testing
def setHearbeat(self, beating=True):
if beating == False:
self.mavproxy.send('set heartbeat 0\n')
else:
self.mavproxy.send('set heartbeat 1\n')
# loiter - fly south west, then loiter within 5m position and altitude # loiter - fly south west, then loiter within 5m position and altitude
def loiter(self, holdtime=10, maxaltchange=5, maxdistchange=5): def loiter(self, holdtime=10, maxaltchange=5, maxdistchange=5):
@ -238,6 +279,18 @@ class AutoTestCopter(AutoTest):
self.wait_altitude((alt_min - 5), alt_min, relative=True) self.wait_altitude((alt_min - 5), alt_min, relative=True)
self.hover() self.hover()
def setGCSfailsafe(self,paramValue=0):
# Slow down the sim rate if GCS Failsafe is in use
if paramValue == 0:
self.set_parameter("FS_GCS_ENABLE",paramValue)
self.set_parameter("SIM_SPEEDUP",10)
else:
self.set_parameter("SIM_SPEEDUP",4)
self.set_parameter("FS_GCS_ENABLE",paramValue)
################################################# #################################################
# TESTS FLY # TESTS FLY
################################################# #################################################
@ -415,89 +468,439 @@ class AutoTestCopter(AutoTest):
if ex is not None: if ex is not None:
raise ex raise ex
def fly_throttle_failsafe(self, side=60, timeout=180): # Tests all actions and logic behind the radio failsafe
"""Fly east, Failsafe, return, land.""" def fly_throttle_failsafe(self, side=60, timeout=360):
# Trigger and RC failure with the failsafe disabled. Verify no action taken.
self.start_subtest("Radio failsafe disabled test: FS_THR_ENABLE=0 should take no failsafe action")
self.set_parameter('FS_THR_ENABLE', 0)
self.set_parameter('FS_OPTIONS', 0)
self.takeoffAndMoveAway()
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_seconds(5)
self.wait_mode("ALT_HOLD")
self.set_parameter("SIM_RC_FAIL", 0)
self.wait_seconds(5)
self.wait_mode("ALT_HOLD")
self.end_subtest("Completed Radio failsafe disabled test")
self.takeoff(10) # Trigger an RC failure, verify radio failsafe triggers, restore radio, verify RC function by changing modes to cicle and stabilize.
self.start_subtest("Radio failsafe recovery test")
self.set_parameter('FS_THR_ENABLE', 1)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("RTL")
self.wait_seconds(5)
self.set_parameter("SIM_RC_FAIL", 0)
self.wait_seconds(5)
self.set_rc(5, 1050)
self.wait_mode("CIRCLE")
self.set_rc(5, 1950)
self.wait_mode("STABILIZE")
self.end_subtest("Completed Radio failsafe recovery test")
# switch to loiter mode temporarily to stop us from rising # Trigger and RC failure, verify failsafe triggers and RTL completes
self.change_mode('LOITER') self.start_subtest("Radio failsafe RTL with no options test: FS_THR_ENABLE=1 & FS_OPTIONS=0")
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("RTL")
self.mav.motors_disarmed_wait()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe RTL with no options test")
# first aim east # Trigger and RC failure, verify failsafe triggers and land completes
self.progress("turn east") self.start_subtest("Radio failsafe LAND with no options test: FS_THR_ENABLE=3 & FS_OPTIONS=0")
self.set_rc(4, 1580) self.set_parameter('FS_THR_ENABLE', 3)
self.wait_heading(135) self.takeoffAndMoveAway()
self.set_rc(4, 1500) self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe LAND with no options test")
# raise throttle slightly to avoid hitting the ground # Trigger and RC failure, verify failsafe triggers and SmartRTL completes
pos = self.mav.location(relative_alt=True) self.start_subtest("Radio failsafe SmartRTL->RTL with no options test: FS_THR_ENABLE=4 & FS_OPTIONS=0")
if pos.alt > 25: self.set_parameter('FS_THR_ENABLE', 4)
self.set_rc(3, 1300) self.takeoffAndMoveAway()
self.wait_altitude(20, 25, relative=True) self.set_parameter("SIM_RC_FAIL", 1)
if pos.alt < 20: self.wait_mode("SMART_RTL")
self.set_rc(3, 1800) self.mav.motors_disarmed_wait()
self.wait_altitude(20, 25, relative=True) self.set_parameter("SIM_RC_FAIL", 0)
self.hover() self.end_subtest("Completed Radio failsafe SmartRTL->RTL with no options test")
self.change_mode("STABILIZE") # Trigger and RC failure, verify failsafe triggers and SmartRTL completes
self.start_subtest("Radio failsafe SmartRTL->Land with no options test: FS_THR_ENABLE=5 & FS_OPTIONS=0")
self.set_parameter('FS_THR_ENABLE', 5)
self.takeoffAndMoveAway()
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("SMART_RTL")
self.mav.motors_disarmed_wait()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe SmartRTL_Land with no options test")
self.hover() # Trigger a GPS failure and RC failure, verify RTL fails into land mode and completes
self.start_subtest("Radio failsafe RTL fails into land mode due to bad position.")
self.set_parameter('FS_THR_ENABLE', 1)
self.takeoffAndMoveAway()
self.set_parameter('SIM_GPS_DISABLE', 1)
self.wait_seconds(5)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.set_parameter("SIM_RC_FAIL", 0)
self.set_parameter('SIM_GPS_DISABLE', 0)
self.wait_ekf_happy()
self.end_subtest("Completed Radio failsafe RTL fails into land mode due to bad position.")
# fly east 60 meters # Trigger a GPS failure and RC failure, verify SmartRTL fails into land mode and completes
self.progress("# Going forward %u meters" % side) self.start_subtest("Radio failsafe SmartRTL->RTL fails into land mode due to bad position.")
self.set_rc(2, 1350) self.set_parameter('FS_THR_ENABLE', 4)
self.wait_distance(side, 5, 60) self.takeoffAndMoveAway()
self.set_rc(2, 1500) self.set_parameter('SIM_GPS_DISABLE', 1)
self.wait_seconds(5)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.set_parameter("SIM_RC_FAIL", 0)
self.set_parameter('SIM_GPS_DISABLE', 0)
self.wait_ekf_happy()
self.end_subtest("Completed Radio failsafe SmartRTL->RTL fails into land mode due to bad position.")
# pull throttle low # Trigger a GPS failure and RC failure, verify SmartRTL fails into land mode and completes
self.progress("# Enter Failsafe by setting very low throttle") self.start_subtest("Radio failsafe SmartRTL->LAND fails into land mode due to bad position.")
self.set_rc(3, 900) self.set_parameter('FS_THR_ENABLE', 5)
self.takeoffAndMoveAway()
self.set_parameter('SIM_GPS_DISABLE', 1)
self.wait_seconds(5)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.set_parameter("SIM_RC_FAIL", 0)
self.set_parameter('SIM_GPS_DISABLE', 0)
self.wait_ekf_happy()
self.end_subtest("Completed Radio failsafe SmartRTL->LAND fails into land mode due to bad position.")
tstart = self.get_sim_time() # Trigger a GPS failure, then restore the GPS. Trigger an RC failure, verify SmartRTL fails into RTL and completes
homeloc = self.poll_home_position() self.start_subtest("Radio failsafe SmartRTL->RTL fails into RTL mode due to no path.")
home = mavutil.location(homeloc.latitude/1e7, self.set_parameter('FS_THR_ENABLE', 4)
homeloc.longitude/1e7, self.takeoffAndMoveAway()
homeloc.altitude/1e3, self.set_parameter('SIM_GPS_DISABLE', 1)
0) self.mavproxy.expect("SmartRTL deactivated: bad position")
while self.get_sim_time_cached() < tstart + timeout: self.set_parameter('SIM_GPS_DISABLE', 0)
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True) self.wait_ekf_happy()
alt = m.relative_alt / 1000.0 # mm -> m self.wait_seconds(5)
pos = self.mav.location() self.set_parameter("SIM_RC_FAIL", 1)
home_distance = self.get_distance(home, pos ) self.wait_mode("RTL")
self.progress("Alt: %.02f HomeDist: %.0f" % (alt, home_distance)) self.mav.motors_disarmed_wait()
# check if we've reached home self.set_parameter("SIM_RC_FAIL", 0)
if alt <= 1 and home_distance < 10: self.end_subtest("Completed Radio failsafe SmartRTL->RTL fails into RTL mode due to no path.")
# reduce throttle
self.set_rc(3, 1100)
# switch back to stabilize
self.change_mode("LAND")
self.progress("Waiting for disarm")
self.mav.motors_disarmed_wait()
self.progress("Reached failsafe home OK")
self.change_mode('STABILIZE')
self.zero_throttle()
return
# Trigger a GPS failure, then restore the GPS. Trigger an RC failure, verify SmartRTL fails into Land and completes
self.start_subtest("Radio failsafe SmartRTL->LAND fails into land mode due to no path.")
self.set_parameter('FS_THR_ENABLE', 5)
self.takeoffAndMoveAway()
self.set_parameter('SIM_GPS_DISABLE', 1)
self.mavproxy.expect("SmartRTL deactivated: bad position")
self.set_parameter('SIM_GPS_DISABLE', 0)
self.wait_ekf_happy()
self.wait_seconds(5)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe SmartRTL->LAND fails into land mode due to no path.")
# Trigger an RC failure in guided mode with the option enabled to continue in guided. Verify no failsafe action takes place
self.start_subtest("Radio failsafe with option to continue in guided mode: FS_THR_ENABLE=1 & FS_OPTIONS=4")
self.setGCSfailsafe(1)
self.set_parameter('FS_THR_ENABLE', 1)
self.set_parameter('FS_OPTIONS', 4)
self.takeoffAndMoveAway()
self.change_mode("GUIDED")
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_seconds(5)
self.wait_mode("GUIDED")
self.set_parameter("SIM_RC_FAIL", 0)
self.wait_seconds(5)
self.change_mode("ALT_HOLD")
self.setGCSfailsafe(0)
# self.change_mode("RTL")
# self.mav.motors_disarmed_wait()
self.end_subtest("Completed Radio failsafe with option to continue in guided mode")
# Trigger an RC failure in AUTO mode with the option enabled to continue the mission. Verify no failsafe action takes place
self.start_subtest("Radio failsafe RTL with option to continue mission: FS_THR_ENABLE=1 & FS_OPTIONS=1")
self.set_parameter('FS_OPTIONS', 1)
self.progress("# Load copter_mission")
num_wp = self.load_mission("copter_mission.txt")
if not num_wp:
raise NotAchievedException("load copter_mission failed")
self.takeoffAndMoveAway()
self.change_mode("AUTO")
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_seconds(5)
self.wait_mode("AUTO")
self.set_parameter("SIM_RC_FAIL", 0)
self.wait_seconds(5)
self.wait_mode("AUTO")
# self.change_mode("RTL")
# self.mav.motors_disarmed_wait()
self.end_subtest("Completed Radio failsafe RTL with option to continue mission")
# Trigger an RC failure in AUTO mode without the option enabled to continue. Verify failsafe triggers and RTL completes
self.start_subtest("Radio failsafe RTL in mission without option to continue should RTL: FS_THR_ENABLE=1 & FS_OPTIONS=0")
self.set_parameter('FS_OPTIONS', 0)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("RTL")
self.mav.motors_disarmed_wait()
self.clear_mission_using_mavproxy()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe RTL in mission without option to continue")
self.progress("All radio failsafe tests complete")
self.set_parameter('FS_THR_ENABLE', 0)
self.reboot_sitl()
# Tests all actions and logic behind the GCS failsafe
def fly_gcs_failsafe(self, side=60, timeout=360):
# Trigger telemety loss with failsafe disabled. Verify no action taken.
self.start_subtest("GCS failsafe disabled test: FS_GCS_ENABLE=0 should take no failsafe action")
self.setGCSfailsafe(0)
self.takeoffAndMoveAway()
self.setHearbeat(False)
self.wait_seconds(5)
self.wait_mode("ALT_HOLD")
self.setHearbeat()
self.wait_seconds(5)
self.wait_mode("ALT_HOLD")
self.end_subtest("Completed GCS failsafe disabled test")
# Trigger telemetry loss with failsafe enabled. Verify failsafe tirggers to RTL. Restory telemety, verify failsafe clears, and change modes.
self.start_subtest("GCS failsafe recovery test")
self.setGCSfailsafe(1)
self.setHearbeat(False)
self.wait_mode("RTL")
self.setHearbeat()
self.mavproxy.expect("GCS Failsafe Cleared")
self.change_mode("LOITER")
self.end_subtest("Completed GCS failsafe recovery test")
# Trigger telemetry loss with failsafe enabled. Verify failsafe tirggers and RTL completes
self.start_subtest("GCS failsafe RTL with no options test: FS_GCS_ENABLE=1 & FS_OPTIONS=0")
self.setHearbeat(False)
self.wait_mode("RTL")
self.mav.motors_disarmed_wait()
self.setHearbeat()
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe RTL with no options test")
# Trigger telemetry loss with failsafe enabled. Verify failsafe tirggers and land completes
self.start_subtest("GCS failsafe LAND with no options test: FS_GCS_ENABLE=5 & FS_OPTIONS=0")
self.setGCSfailsafe(5)
self.takeoffAndMoveAway()
self.setHearbeat(False)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.setHearbeat()
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe land with no options test")
# Trigger telemetry loss with failsafe enabled. Verify failsafe tirggers and SmartRTL completes
self.start_subtest("GCS failsafe SmartRTL->RTL with no options test: FS_GCS_ENABLE=3 & FS_OPTIONS=0")
self.setGCSfailsafe(3)
self.takeoffAndMoveAway()
self.setHearbeat(False)
self.wait_mode("SMART_RTL")
self.mav.motors_disarmed_wait()
self.setHearbeat()
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe SmartRTL->RTL with no options test")
# Trigger telemetry loss with failsafe enabled. Verify failsafe tirggers and SmartRTL completes
self.start_subtest("GCS failsafe SmartRTL->Land with no options test: FS_GCS_ENABLE=4 & FS_OPTIONS=0")
self.setGCSfailsafe(4)
self.takeoffAndMoveAway()
self.setHearbeat(False)
self.wait_mode("SMART_RTL")
self.mav.motors_disarmed_wait()
self.setHearbeat()
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe SmartRTL->Land with no options test")
# Trigger telemetry loss with an invalid failsafe value. Verify failsafe tirggers and RTL completes
self.start_subtest("GCS failsafe invalid value with no options test: FS_GCS_ENABLE=99 & FS_OPTIONS=0")
self.setGCSfailsafe(99)
self.takeoffAndMoveAway()
self.setHearbeat(False)
self.wait_mode("RTL")
self.mav.motors_disarmed_wait()
self.setHearbeat()
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe invalid value with no options test")
# Trigger telemetry loss with failsafe enabled to test FS_OPTIONS settings
self.start_subtest("GCS failsafe with option bit tests: FS_GCS_ENABLE=1 & FS_OPTIONS=64/2/16")
num_wp = self.load_mission("copter_mission.txt")
if not num_wp:
raise NotAchievedException("load copter_mission failed")
self.setGCSfailsafe(1)
self.set_parameter('FS_OPTIONS', 16)
self.takeoffAndMoveAway()
self.progress("Testing continue in pilot controlled modes")
self.setHearbeat(False)
self.mavproxy.expect("GCS Failsafe - Continuing Pilot Control")
self.wait_seconds(5)
self.wait_mode("ALT_HOLD")
self.setHearbeat()
self.mavproxy.expect("GCS Failsafe Cleared")
self.progress("Testing continue in auto mission")
self.set_parameter('FS_OPTIONS', 2)
self.change_mode("AUTO")
self.wait_seconds(5)
self.setHearbeat(False)
self.mavproxy.expect("GCS Failsafe - Continuing Auto Mode")
self.wait_seconds(5)
self.wait_mode("AUTO")
self.setHearbeat()
self.mavproxy.expect("GCS Failsafe Cleared")
self.progress("Testing continue landing in land mode")
self.set_parameter('FS_OPTIONS', 8)
self.change_mode("LAND")
self.wait_seconds(5)
self.setHearbeat(False)
self.mavproxy.expect("GCS Failsafe - Continuing Landing")
self.wait_seconds(5)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.setHearbeat()
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe with option bits")
self.setGCSfailsafe(0)
self.set_parameter('FS_OPTIONS', 0)
self.progress("All GCS failsafe tests complete")
self.reboot_sitl() self.reboot_sitl()
raise AutoTestTimeoutException( # Tests all actions and logic behind the battery failsafe
("Failed to land and disarm on failsafe RTL - "
"timed out after %u seconds" % timeout))
def fly_battery_failsafe(self, timeout=300): def fly_battery_failsafe(self, timeout=300):
self.takeoff(10, mode='LOITER') self.progress("Configure battery failsafe parameters")
self.set_parameter('SIM_SPEEDUP', 4)
self.set_parameter('BATT_LOW_VOLT', 11.5)
self.set_parameter('BATT_CRT_VOLT', 10.1)
self.set_parameter('BATT_FS_LOW_ACT', 0)
self.set_parameter('BATT_FS_CRT_ACT', 0)
self.set_parameter('FS_OPTIONS', 0)
self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
# enable battery failsafe # Trigger low battery condition with failsafe disabled. Verify no action taken.
self.set_parameter('BATT_FS_LOW_ACT', 1) self.start_subtest("Batt failsafe disabled test")
self.takeoffAndMoveAway()
# trigger low voltage self.set_parameter('SIM_BATT_VOLTAGE', 11.4)
self.set_parameter('SIM_BATT_VOLTAGE', 10) self.mavproxy.expect("Battery 1 is low")
self.wait_seconds(5)
# wait for LAND mode. If unsuccessful an exception will be raised self.wait_mode("ALT_HOLD")
self.wait_mode('LAND', timeout=timeout) self.set_parameter('SIM_BATT_VOLTAGE', 10.0)
self.mavproxy.expect("Battery 1 is critical")
self.progress("Successfully entered LAND after battery failsafe") self.wait_seconds(5)
self.wait_mode("ALT_HOLD")
self.change_mode("RTL")
self.mav.motors_disarmed_wait() self.mav.motors_disarmed_wait()
self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
self.mavproxy.send('reboot\n')
self.end_subtest("Completed Batt failsafe disabled test")
# TWO STAGE BATTERY FAILSAFE: Trigger low battery condition, then critical battery condition. Verify RTL and Land actions complete.
self.start_subtest("Two stage battery failsafe test with RTL and Land")
self.takeoffAndMoveAway()
self.wait_seconds(3)
self.set_parameter('BATT_FS_LOW_ACT', 2)
self.set_parameter('BATT_FS_CRT_ACT', 1)
self.set_parameter('SIM_BATT_VOLTAGE', 11.4)
self.mavproxy.expect("Battery 1 is low")
self.wait_seconds(5)
self.wait_mode("RTL")
self.wait_seconds(10)
self.set_parameter('SIM_BATT_VOLTAGE', 10.0)
self.mavproxy.expect("Battery 1 is critical")
self.wait_seconds(5)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
self.mavproxy.send('reboot\n')
self.end_subtest("Completed two stage battery failsafe test with RTL and Land")
# TWO STAGE BATTERY FAILSAFE: Trigger low battery condition, then critical battery condition. Verify both SmartRTL actions complete
self.start_subtest("Two stage battery failsafe test with SmartRTL")
self.takeoffAndMoveAway()
self.set_parameter('BATT_FS_LOW_ACT', 3)
self.set_parameter('BATT_FS_CRT_ACT', 4)
self.wait_seconds(10)
self.set_parameter('SIM_BATT_VOLTAGE', 11.4)
self.mavproxy.expect("Battery 1 is low")
self.wait_seconds(5)
self.wait_mode("SMART_RTL")
self.change_mode("LOITER")
self.wait_seconds(10)
self.set_parameter('SIM_BATT_VOLTAGE', 10.0)
self.mavproxy.expect("Battery 1 is critical")
self.wait_seconds(5)
self.wait_mode("SMART_RTL")
self.mav.motors_disarmed_wait()
self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
self.mavproxy.send('reboot\n')
self.end_subtest("Completed two stage battery failsafe test with SmartRTL")
# Trigger low battery condition in land mode with FS_OPTIONS set to allow land mode to continue. Verify landing completes uninterupted.
self.start_subtest("Battery failsafe with FS_OPTIONS set to continue landing")
self.takeoffAndMoveAway()
self.set_parameter('FS_OPTIONS', 8)
self.change_mode("LAND")
self.wait_seconds(5)
self.set_parameter('SIM_BATT_VOLTAGE', 11.4)
self.mavproxy.expect("Battery 1 is low")
self.wait_seconds(5)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
self.mavproxy.send('reboot\n')
self.end_subtest("Completed battery failsafe with FS_OPTIONS set to continue landing")
# Trigger a critical battery condition, which triggers a land mode failsafe. Trigger an RC failure. Verify the RC failsafe is prevented from stopping the low battery landing.
self.start_subtest("Battery failsafe critical landing")
self.takeoffAndMoveAway(100,50)
self.set_parameter('FS_OPTIONS', 0)
self.set_parameter('BATT_FS_LOW_ACT', 1)
self.set_parameter('BATT_FS_CRT_ACT', 1)
self.set_parameter('FS_THR_ENABLE', 1)
self.wait_seconds(5)
self.set_parameter('SIM_BATT_VOLTAGE', 10.0)
self.mavproxy.expect("Battery 1 is critical")
self.wait_mode("LAND")
self.wait_seconds(10)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_seconds(10)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
self.set_parameter("SIM_RC_FAIL", 0)
self.mavproxy.send('reboot\n')
self.end_subtest("Completed battery failsafe critical landing")
# Trigger low battery condition with failsafe set to terminate. Copter will disarm and crash.
self.start_subtest("Battery failsafe terminate")
self.takeoffAndMoveAway()
self.set_parameter('BATT_FS_LOW_ACT', 5)
self.wait_seconds(10)
self.set_parameter('SIM_BATT_VOLTAGE', 11.4)
self.mavproxy.expect("Battery 1 is low")
self.mav.motors_disarmed_wait()
self.end_subtest("Completed terminate failsafe test")
self.progress("All Battery failsafe tests complete")
self.set_parameter('BATT_LOW_VOLT', 0)
self.set_parameter('BATT_CRT_VOLT', 0)
self.set_parameter('BATT_FS_LOW_ACT', 0)
self.set_parameter('BATT_FS_CRT_ACT', 0)
self.set_parameter('FS_OPTIONS', 0)
self.reboot_sitl() self.reboot_sitl()
# fly_stability_patch - fly south, then hold loiter within 5m # fly_stability_patch - fly south, then hold loiter within 5m
@ -569,12 +972,12 @@ class AutoTestCopter(AutoTest):
self.progress("Armed") self.progress("Armed")
return return
def wait_distance_from_home(self, distance_min, distance_max, timeout=10): def wait_distance_from_home(self, distance_min, distance_max, timeout=10, use_cached_home=True):
tstart = self.get_sim_time() tstart = self.get_sim_time()
while True: while True:
if self.get_sim_time() - tstart > timeout: if self.get_sim_time() - tstart > timeout:
raise NotAchievedException("Did not achieve distance from home") raise NotAchievedException("Did not achieve distance from home")
distance = self.distance_to_home(use_cached_home=True) distance = self.distance_to_home(use_cached_home)
self.progress("Distance from home: now=%f %f<want<%f" % self.progress("Distance from home: now=%f %f<want<%f" %
(distance, distance_min, distance_max)) (distance, distance_min, distance_max))
if distance >= distance_min and distance <= distance_max: if distance >= distance_min and distance <= distance_max:
@ -3597,23 +4000,6 @@ class AutoTestCopter(AutoTest):
self.wait_current_waypoint(0, timeout=10) self.wait_current_waypoint(0, timeout=10)
self.set_rc(7, 1000) self.set_rc(7, 1000)
def test_radio_failsafe(self):
self.start_subtest("If you haven't taken off yet RC failure should be instant disarm")
self.change_mode("STABILIZE")
self.set_parameter("DISARM_DELAY", 0)
self.arm_vehicle()
self.set_parameter("SIM_RC_FAIL", 1)
self.disarm_wait(timeout=1)
self.set_parameter("SIM_RC_FAIL", 0)
self.set_parameter("DISARM_DELAY", 10)
self.start_subtest("Default behavour from loiter should be RTL")
self.takeoff(10, mode="LOITER")
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("RTL")
self.disarm_wait(timeout=100)
def tests(self): def tests(self):
'''return list of all tests''' '''return list of all tests'''
ret = super(AutoTestCopter, self).tests() ret = super(AutoTestCopter, self).tests()
@ -3677,6 +4063,10 @@ class AutoTestCopter(AutoTest):
"Test Throttle Failsafe", "Test Throttle Failsafe",
self.fly_throttle_failsafe), self.fly_throttle_failsafe),
("GCSFailsafe",
"Test GCS Failsafe",
self.fly_gcs_failsafe),
("BatteryFailsafe", ("BatteryFailsafe",
"Fly Battery Failsafe", "Fly Battery Failsafe",
self.fly_battery_failsafe), self.fly_battery_failsafe),
@ -3725,10 +4115,6 @@ class AutoTestCopter(AutoTest):
"Test Loiter Mode", "Test Loiter Mode",
self.loiter), self.loiter),
("RadioFailsafe",
"Test radio failsafes",
self.test_radio_failsafe),
("SimpleMode", ("SimpleMode",
"Fly in SIMPLE mode", "Fly in SIMPLE mode",
self.fly_simple), self.fly_simple),

1
Tools/autotest/default_params/copter.parm
View File

@ -45,6 +45,7 @@ FLTMODE3 6
FLTMODE4 3 FLTMODE4 3
FLTMODE5 5 FLTMODE5 5
FLTMODE6 0 FLTMODE6 0
FS_GCS_ENABLE 0
SUPER_SIMPLE 0 SUPER_SIMPLE 0
SIM_GPS_DELAY 1 SIM_GPS_DELAY 1
SIM_ACC_RND 0 SIM_ACC_RND 0