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AutoTest: fix fly_mission to recognise end of mission

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Copter's behaviour after completing a mission has changed so it does not
automatically switch to Loiter mode but rather stays at the last
waypoint.  This was confusing the fly_mission function.
This commit is contained in:
Randy Mackay 2014-11-05 17:28:36 +09:00
parent 2b48434e60
commit 95827e59c1
1 changed files with 15 additions and 32 deletions
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47
Tools/autotest/arducopter.py
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@ -531,12 +531,7 @@ def fly_gps_glitch_auto_test(mavproxy, mav, timeout=30, max_distance=100):
print("glitch %d %.7f %.7f" % (i,glitch_lat[i],glitch_lon[i])) print("glitch %d %.7f %.7f" % (i,glitch_lat[i],glitch_lon[i]))
# Fly mission #1 # Fly mission #1
print("# Upload copter_glitch_mission") print("# Load copter_glitch_mission")
if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_glitch_mission.txt")):
print("upload copter_glitch_mission.txt failed")
return False
# this grabs our mission count
if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_glitch_mission.txt")): if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_glitch_mission.txt")):
print("load copter_glitch_mission failed") print("load copter_glitch_mission failed")
return False return False
@ -755,12 +750,7 @@ def fly_circle(mavproxy, mav, maxaltchange=10, holdtime=36):
def fly_auto_test(mavproxy, mav): def fly_auto_test(mavproxy, mav):
# Fly mission #1 # Fly mission #1
print("# Upload copter_glitch_mission") print("# Load copter_mission")
if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_mission.txt")):
print("upload copter_mission.txt failed")
return False
# this grabs our mission count
if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_mission.txt")): if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_mission.txt")):
print("load copter_mission failed") print("load copter_mission failed")
return False return False
@ -794,14 +784,9 @@ def fly_auto_test(mavproxy, mav):
def fly_avc_test(mavproxy, mav): def fly_avc_test(mavproxy, mav):
# upload mission from file # upload mission from file
print("# Upload copter_glitch_mission") print("# Load copter_AVC2013_mission")
if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_AVC2013_mission.txt")):
print("upload copter_mission.txt failed")
return False
# get number of commands in mission
if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_AVC2013_mission.txt")): if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_AVC2013_mission.txt")):
print("load copter_mission failed") print("load copter_AVC2013_mission failed")
return False return False
# load the waypoint count # load the waypoint count
@ -847,8 +832,10 @@ def fly_mission(mavproxy, mav, height_accuracy=-1, target_altitude=None):
mavproxy.send('wp set 1\n') mavproxy.send('wp set 1\n')
mavproxy.send('switch 4\n') # auto mode mavproxy.send('switch 4\n') # auto mode
wait_mode(mav, 'AUTO') wait_mode(mav, 'AUTO')
#wait_altitude(mav, 30, 40) ret = wait_waypoint(mav, 0, num_wp-1, timeout=500, mode='AUTO')
ret = wait_waypoint(mav, 0, num_wp, timeout=500, mode='AUTO') expect_msg = "Reached Command #%u" % (num_wp-1)
if (ret):
mavproxy.expect(expect_msg)
print("test: MISSION COMPLETE: passed=%s" % ret) print("test: MISSION COMPLETE: passed=%s" % ret)
# wait here until ready # wait here until ready
mavproxy.send('switch 5\n') # loiter mode mavproxy.send('switch 5\n') # loiter mode
@ -856,21 +843,17 @@ def fly_mission(mavproxy, mav, height_accuracy=-1, target_altitude=None):
return ret return ret
def load_mission_from_file(mavproxy, mav, filename): def load_mission_from_file(mavproxy, mav, filename):
'''load a mission from a file''' '''Load a mission from a file to flight controller'''
global num_wp
wploader = mavwp.MAVWPLoader()
wploader.load(filename)
num_wp = wploader.count()
print("loaded mission with %u waypoints" % num_wp)
return True
def upload_mission_from_file(mavproxy, mav, filename):
'''Upload a mission from a file to APM'''
global num_wp global num_wp
mavproxy.send('wp load %s\n' % filename) mavproxy.send('wp load %s\n' % filename)
mavproxy.expect('flight plan received') mavproxy.expect('flight plan received')
mavproxy.send('wp list\n') mavproxy.send('wp list\n')
mavproxy.expect('Requesting [0-9]+ waypoints') mavproxy.expect('Requesting [0-9]+ waypoints')
# update num_wp
wploader = mavwp.MAVWPLoader()
wploader.load(filename)
num_wp = wploader.count()
return True return True
def save_mission_to_file(mavproxy, mav, filename): def save_mission_to_file(mavproxy, mav, filename):
@ -1017,7 +1000,7 @@ def fly_ArduCopter(viewerip=None, map=False):
# fly the stored mission # fly the stored mission
print("# Fly CH7 saved mission") print("# Fly CH7 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):
failed_test_msg = "fly_mission failed" failed_test_msg = "fly ch7_mission failed"
print(failed_test_msg) print(failed_test_msg)
failed = True failed = True