mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
Tools: Autotest for balance bot
This commit is contained in:
Ebin
Andrew Tridgell
parent
d3846420aa
commit
9c3b7e7c7d
@ -21,6 +21,7 @@ import arducopter
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import arduplane
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import ardusub
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import quadplane
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import balancebot
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from pysim import util
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from pymavlink import mavutil
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@ -229,7 +230,8 @@ __bin_names = {
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"AntennaTracker": "antennatracker",
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"CopterAVC": "arducopter-heli",
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"QuadPlane": "arduplane",
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"ArduSub": "ardusub"
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"ArduSub": "ardusub",
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"balancebot": "ardurover"
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}
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@ -337,6 +339,12 @@ def run_step(step):
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**fly_opts)
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return tester.autotest()
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if step == 'drive.balancebot':
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tester = balancebot.AutoTestBalanceBot(binary,
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frame=opts.frame,
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**fly_opts)
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return tester.autotest()
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if step == 'dive.ArduSub':
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tester = ardusub.AutoTestSub(binary, **fly_opts)
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return tester.autotest()
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@ -630,6 +638,7 @@ if __name__ == "__main__":
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'build.APMrover2',
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'defaults.APMrover2',
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'drive.APMrover2',
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'drive.balancebot',
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'build.ArduCopter',
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'defaults.ArduCopter',
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112
Tools/autotest/balancebot.py
Normal file
112
Tools/autotest/balancebot.py
Normal file
@ -0,0 +1,112 @@
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#!/usr/bin/env python
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# Drive balancebot in SITL
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from __future__ import print_function
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import os
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import pexpect
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from apmrover2 import AutoTestRover
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from pymavlink import mavutil
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# get location of scripts
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testdir = os.path.dirname(os.path.realpath(__file__))
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# HOME = mavutil.location(-35.362938, 149.165085, 584, 270)
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HOME = mavutil.location(40.071374969556928,
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-105.22978898137808,
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1583.702759,
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246)
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class AutoTestBalanceBot(AutoTestRover):
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def __init__(self,
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binary,
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valgrind=False,
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gdb=False,
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speedup=10,
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frame=None,
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params=None,
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gdbserver=False,
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**kwargs):
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super(AutoTestBalanceBot, self).__init__(binary,
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valgrind,
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gdb,
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speedup,
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frame,
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params,
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gdbserver,
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**kwargs)
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def init(self):
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if self.frame is None:
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self.frame = 'balancebot'
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super(AutoTestBalanceBot, self).init()
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def drive_mission_balancebot1(self):
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self.drive_mission(os.path.join(testdir, "balancebot1.txt"))
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def autotest(self):
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"""Autotest APMrover2 in SITL."""
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if not self.hasInit:
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self.init()
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self.progress("Started simulator")
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self.fail_list = []
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try:
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self.progress("Waiting for a heartbeat with mavlink protocol %s" %
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self.mav.WIRE_PROTOCOL_VERSION)
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self.mav.wait_heartbeat()
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self.progress("Setting up RC parameters")
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self.set_rc_default()
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self.set_rc(8, 1800)
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self.progress("Waiting for GPS fix")
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self.mav.wait_gps_fix()
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self.homeloc = self.mav.location()
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self.progress("Home location: %s" % self.homeloc)
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self.mavproxy.send('switch 6\n') # Manual mode
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self.wait_mode('MANUAL')
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self.progress("Waiting reading for arm")
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.run_test("Drive an RTL Mission", self.drive_rtl_mission)
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self.run_test("Drive Mission %s" % "balancebot1.txt",
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self.drive_mission_balancebot1)
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self.run_test("Disarm Vehicle", self.disarm_vehicle)
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self.run_test("Get Banner", self.do_get_banner)
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self.run_test("Get Capabilities",
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self.do_get_autopilot_capabilities)
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self.run_test("Set mode via MAV_COMMAND_DO_SET_MODE",
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self.do_set_mode_via_command_long)
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self.run_test("Test ServoRelayEvents",
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self.test_servorelayevents)
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self.run_test("Download logs", lambda:
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self.log_download(
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self.buildlogs_path("APMrover2-log.bin")))
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# if not drive_left_circuit(self):
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# self.progress("Failed left circuit")
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# failed = True
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# if not drive_RTL(self):
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# self.progress("Failed RTL")
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# failed = True
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except pexpect.TIMEOUT:
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self.progress("Failed with timeout")
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self.fail_list.append(("*timeout*", None))
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self.close()
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if len(self.fail_list):
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self.progress("FAILED STEPS: %s" % self.fail_list)
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return False
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return True
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19
Tools/autotest/balancebot1.txt
Normal file
19
Tools/autotest/balancebot1.txt
Normal file
@ -0,0 +1,19 @@
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QGC WPL 110
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0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.071289 -105.230057 11085.900391 1
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3 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071186 -105.230064 9502.200195 1
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4 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071083 -105.230026 11085.900391 1
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5 0 3 178 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
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6 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071011 -105.230003 11085.900391 1
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7 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070999 -105.229919 11085.900391 1
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8 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070900 -105.229950 11085.900391 1
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9 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070843 -105.229858 11085.889648 1
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10 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070801 -105.229820 11085.849609 1
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11 0 3 178 0.000000 2.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
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12 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070721 -105.229736 11085.900391 1
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13 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070827 -105.229530 11086.000000 1
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14 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070904 -105.229362 11085.929688 1
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15 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070995 -105.229118 12669.580078 1
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16 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071133 -105.229233 11085.900391 1
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17 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071255 -105.229355 11085.900391 1
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18 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071404 -105.229485 9502.200195 1
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19 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071369 -105.229828 9502.200195 1
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@ -729,6 +729,10 @@ class AutoTest(ABC):
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def wait_ekf_happy(self, timeout=30):
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"""Wait for EKF to be happy"""
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""" if using SITL estimates directly """
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if (int(self.get_parameter('AHRS_EKF_TYPE')) == 10):
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return True
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tstart = self.get_sim_time()
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# all of these must be set for arming to happen:
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required_value = (mavutil.mavlink.EKF_ATTITUDE |
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