Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Tools: autotest: make Rover tests stand-alone

Browse Source
This commit is contained in:
Peter Barker 2018-12-12 13:15:21 +11:00 committed by Peter Barker
parent 211e7b1f1c
commit 984ce514a7
1 changed files with 30 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

39
Tools/autotest/apmrover2.py
View File

@ -148,10 +148,12 @@ class AutoTestRover(AutoTest):
self.clear_wp()
# use LEARNING Mode
self.mavproxy.send('switch 5\n')
self.wait_mode('MANUAL')
self.wait_ready_to_arm()
self.arm_vehicle()
# first aim north
self.progress("\nTurn right towards north")
self.reach_heading_manual(10)
@ -205,7 +207,10 @@ class AutoTestRover(AutoTest):
except Exception as e:
self.progress("Caught exception: %s" % str(e))
ex = e
self.disarm_vehicle()
self.context_pop()
if ex:
raise ex
@ -360,11 +365,14 @@ class AutoTestRover(AutoTest):
"""Drive a mission from a file."""
self.progress("Driving mission %s" % filename)
self.load_mission(filename)
self.wait_ready_to_arm()
self.arm_vehicle()
self.mavproxy.send('switch 4\n') # auto mode
self.set_rc(3, 1500)
self.wait_mode('AUTO')
self.wait_waypoint(1, 4, max_dist=5)
self.wait_mode('HOLD', timeout=300)
self.disarm_vehicle()
self.progress("Mission OK")
def do_get_banner(self):
@ -426,6 +434,8 @@ class AutoTestRover(AutoTest):
self.set_parameter('CRUISE_SPEED', 15)
self.set_parameter('ATC_BRAKE', 0)
self.arm_vehicle()
distance_without_brakes = self.drive_brake_get_stopping_distance(15)
# brakes on:
@ -437,6 +447,7 @@ class AutoTestRover(AutoTest):
delta = distance_without_brakes - distance_with_brakes
if delta < distance_without_brakes * 0.05: # 5% isn't asking for much
self.disarm_vehicle()
raise NotAchievedException("""
Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
""" %
@ -444,11 +455,16 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
distance_without_brakes,
delta))
self.disarm_vehicle()
self.progress(
"Brakes work (with=%0.2fm without=%0.2fm delta=%0.2fm)" %
(distance_with_brakes, distance_without_brakes, delta))
def drive_rtl_mission(self):
self.wait_ready_to_arm()
self.arm_vehicle()
mission_filepath = os.path.join("ArduRover-Missions", "rtl.txt")
self.load_mission(mission_filepath)
self.mavproxy.send('switch 4\n') # auto mode
@ -483,8 +499,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
(home_distance, home_distance_max))
self.mavproxy.send('switch 6\n')
self.wait_mode('MANUAL')
self.disarm_vehicle()
self.progress("RTL Mission OK")
def wait_distance_home_gt(self, distance, timeout=60):
home_distance = None
tstart = self.get_sim_time()
@ -775,6 +793,14 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
if ex is not None:
raise ex
def test_do_set_mode_via_command_long(self):
self.do_set_mode_via_command_long("HOLD")
self.do_set_mode_via_command_long("MANUAL")
def test_mavproxy_do_set_mode_via_command_long(self):
self.mavproxy_do_set_mode_via_command_long("HOLD")
self.mavproxy_do_set_mode_via_command_long("MANUAL")
def autotest(self):
"""Autotest APMrover2 in SITL."""
self.check_test_syntax(test_file=os.path.realpath(__file__))
@ -813,8 +839,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.run_test("Set modes via auxswitches",
self.test_setting_modes_via_auxswitches)
self.arm_vehicle()
self.run_test("Drive an RTL Mission", self.drive_rtl_mission)
self.run_test("Learn/Drive Square with Ch7 option",
@ -826,19 +850,16 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
# disabled due to frequent failures in travis. This test needs re-writing
# self.run_test("Drive Brake", self.drive_brake)
self.run_test("Disarm Vehicle", self.disarm_vehicle)
self.run_test("Get Banner", self.do_get_banner)
self.run_test("Get Capabilities",
self.do_get_autopilot_capabilities)
self.run_test("Set mode via MAV_COMMAND_DO_SET_MODE",
lambda: self.do_set_mode_via_command_long("HOLD"))
self.mavproxy.send('switch 6\n') # Manual mode
self.wait_mode('MANUAL')
self.test_do_set_mode_via_command_long)
self.run_test("Set mode via MAV_COMMAND_DO_SET_MODE with MAVProxy",
lambda: self.mavproxy_do_set_mode_via_command_long("HOLD"))
self.test_mavproxy_do_set_mode_via_command_long)
self.run_test("Test ServoRelayEvents",
self.test_servorelayevents)