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Tools: autotest: add flaps test

This commit is contained in:
Peter Barker 2018-08-13 21:07:34 +10:00 committed by Peter Barker
parent a8ea84a729
commit 8e3b69bca0
2 changed files with 115 additions and 5 deletions
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107
Tools/autotest/arduplane.py
View File

@ -90,12 +90,13 @@ class AutoTestPlane(AutoTest):
def takeoff(self):
"""Takeoff get to 30m altitude."""
self.wait_ready_to_arm()
self.arm_vehicle()
self.mavproxy.send('switch 4\n')
self.wait_mode('FBWA')
self.wait_ready_to_arm()
self.arm_vehicle()
# some rudder to counteract the prop torque
self.set_rc(4, 1700)
@ -438,13 +439,16 @@ class AutoTestPlane(AutoTest):
return self.wait_level_flight()
def fly_mission(self, filename):
"""Fly a mission from a file."""
self.progress("Flying mission %s" % filename)
def wp_load(self, filename):
self.mavproxy.send('wp load %s\n' % filename)
self.mavproxy.expect('Flight plan received')
self.mavproxy.send('wp list\n')
self.mavproxy.expect('Requesting [0-9]+ waypoints')
def fly_mission(self, filename):
"""Fly a mission from a file."""
self.progress("Flying mission %s" % filename)
self.wp_load(filename)
self.mavproxy.send('switch 1\n') # auto mode
self.wait_mode('AUTO')
self.wait_waypoint(1, 7, max_dist=60)
@ -452,6 +456,97 @@ class AutoTestPlane(AutoTest):
self.mavproxy.expect("Auto disarmed")
self.progress("Mission OK")
def wait_servo_channel_value(self, channel, value, timeout=2):
channel_field = "servo%u_raw" % channel
tstart = self.get_sim_time()
while True:
remaining = timeout - (self.get_sim_time_cached() - tstart)
if remaining <= 0:
raise NotAchievedException()
m = self.mav.recv_match(type='SERVO_OUTPUT_RAW',
blocking=True,
timeout=remaining)
m_value = getattr(m, channel_field, None)
self.progress("SERVO_OUTPUT_RAW.%s=%u want=%u" %
(channel_field, m_value, value))
if m_value is None:
raise ValueError() #?
if m_value == value:
return
def fly_flaps(self):
"""Test flaps functionality."""
filename = os.path.join(testdir, "flaps.txt")
self.context_push()
ex = None
try:
flaps_ch = 5
servo_ch = 5
self.set_parameter("SERVO%u_FUNCTION" % servo_ch, 3) # flapsauto
self.set_parameter("FLAP_IN_CHANNEL", flaps_ch)
self.set_parameter("LAND_FLAP_PERCNT", 50)
self.set_parameter("LOG_DISARMED", 1)
flaps_ch_min = 1000
flaps_ch_trim = 1500
flaps_ch_max = 2000
self.set_parameter("RC%u_MIN" % flaps_ch, flaps_ch_min)
self.set_parameter("RC%u_MAX" % flaps_ch, flaps_ch_max)
self.set_parameter("RC%u_TRIM" % flaps_ch, flaps_ch_trim)
servo_ch_min = 1200
servo_ch_trim = 1300
servo_ch_max = 1800
self.set_parameter("SERVO%u_MIN" % servo_ch, servo_ch_min)
self.set_parameter("SERVO%u_MAX" % servo_ch, servo_ch_max)
self.set_parameter("SERVO%u_TRIM" % servo_ch, servo_ch_trim)
# check flaps are not deployed:
self.set_rc(flaps_ch, flaps_ch_min)
self.wait_servo_channel_value(servo_ch, servo_ch_min)
# deploy the flaps:
self.set_rc(flaps_ch, flaps_ch_max)
tstart = self.get_sim_time()
self.wait_servo_channel_value(servo_ch, servo_ch_max)
tstop = self.get_sim_time_cached()
delta_time = tstop - tstart
delta_time_min = 0.5
delta_time_max = 1.5
if delta_time < delta_time_min or delta_time > delta_time_max:
self.progress("Flaps Slew not working (%f seconds)" %
(delta_time,))
raise NotAchievedException()
# undeploy flaps:
self.set_rc(flaps_ch, flaps_ch_min)
self.wait_servo_channel_value(servo_ch, servo_ch_min)
self.progress("Flying mission %s" % filename)
self.wp_load(filename)
self.mavproxy.send('wp set 1\n')
self.mavproxy.send('switch 1\n') # auto mode
self.wait_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
while self.armed():
m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
self.progress("MISSION_CURRENT.seq=%u" % (m.seq,))
# flaps should undeploy at the end
self.wait_servo_channel_value(servo_ch, servo_ch_min, timeout=30)
# do a short flight in FBWA, watching for flaps
# self.mavproxy.send('switch 4\n')
# self.wait_mode('FBWA')
# self.wait_seconds(10)
# self.mavproxy.send('switch 6\n')
# self.wait_mode('MANUAL')
# self.wait_seconds(10)
self.progress("Flaps OK")
except Exception as e:
ex = e
self.context_pop()
if ex:
raise ex
def autotest(self):
"""Autotest ArduPlane in SITL."""
if not self.hasInit:
@ -474,6 +569,8 @@ class AutoTestPlane(AutoTest):
self.homeloc = self.mav.location()
self.progress("Home location: %s" % self.homeloc)
self.run_test("Flaps", self.fly_flaps)
self.run_test("Takeoff", self.takeoff)
self.run_test("Fly left circuit", self.fly_left_circuit)

13
Tools/autotest/flaps.txt Normal file
View File

@ -0,0 +1,13 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.390015 1
1 0 3 22 15.000000 0.000000 0.000000 0.000000 -35.361279 149.164230 30.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361229 149.163025 80.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364563 149.163773 80.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364384 149.164795 80.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361027 149.164093 80.000000 1
6 0 0 177 2.000000 3.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
7 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.362915 149.162613 60.000000 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363136 149.162750 60.000000 1
9 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365467 149.164215 55.000000 1
10 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365009 149.165482 39.889999 1
11 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.363041 149.165222 0.000000 1