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Tools: autotest: add test for Plane DO_CHANGE_SPEED

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Peter Barker 2019-05-20 22:47:01 +10:00 committed by Peter Barker
parent 8b7b5f0db9
commit 9e8e48c9c6
1 changed files with 90 additions and 0 deletions
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90
Tools/autotest/arduplane.py
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@ -502,6 +502,94 @@ class AutoTestPlane(AutoTest):
self.mavproxy.expect("Auto disarmed")
self.progress("Mission OK")
def fly_do_change_speed(self):
# the following lines ensure we revert these parameter values
# - DO_CHANGE_AIRSPEED is a permanent vehicle change!
self.set_parameter("TRIM_ARSPD_CM", self.get_parameter("TRIM_ARSPD_CM"))
self.set_parameter("MIN_GNDSPD_CM", self.get_parameter("MIN_GNDSPD_CM"))
self.progress("Takeoff")
self.takeoff(alt=100)
self.set_rc(3, 1500)
# ensure we know what the airspeed is:
self.progress("Entering guided and flying somewhere constant")
self.change_mode("GUIDED")
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_DO_REPOSITION,
0,
0,
0,
0,
12345, # lat*1e7
12345, # lon*1e7
100 # alt
)
self.delay_sim_time(10)
self.progress("Ensuring initial speed is known and relatively constant")
initial_speed = 21.5;
timeout = 10
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
break
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
self.progress("GroundSpeed: %f want=%f" %
(m.groundspeed, initial_speed))
if abs(initial_speed - m.groundspeed) > 1:
raise NotAchievedException("Initial speed not as expected (want=%f got=%f" % (initial_speed, m.groundspeed))
self.progress("Setting groundspeed")
new_target_groundspeed = initial_speed + 5
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED,
1, # groundspeed
new_target_groundspeed,
-1, # throttle / no change
0, # absolute values
0,
0,
0)
self.wait_groundspeed(new_target_groundspeed-0.5, new_target_groundspeed+0.5, timeout=40)
self.progress("Adding some wind, ensuring groundspeed holds")
self.set_parameter("SIM_WIND_SPD", 5)
self.delay_sim_time(5)
self.wait_groundspeed(new_target_groundspeed-0.5, new_target_groundspeed+0.5, timeout=40)
self.set_parameter("SIM_WIND_SPD", 0)
self.progress("Setting airspeed")
new_target_airspeed = initial_speed + 5
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED,
0, # airspeed
new_target_airspeed,
-1, # throttle / no change
0, # absolute values
0,
0,
0)
self.wait_groundspeed(new_target_airspeed-0.5, new_target_airspeed+0.5)
self.progress("Adding some wind, hoping groundspeed increases/decreases")
self.set_parameter("SIM_WIND_SPD", 5)
self.set_parameter("SIM_WIND_DIR", 270)
self.delay_sim_time(5)
timeout = 10
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Did not achieve groundspeed delta")
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
delta = abs(m.airspeed - m.groundspeed)
want_delta = 4
self.progress("groundspeed and airspeed should be different (have=%f want=%f)" % (delta, want_delta))
if delta > want_delta:
break
filename = os.path.join(testdir, "flaps.txt")
self.progress("Using %s to fly home" % filename)
self.load_mission(filename)
self.change_mode("AUTO")
self.mavproxy.send('wp set 7\n')
self.mav.motors_disarmed_wait()
def fly_flaps(self):
"""Test flaps functionality."""
filename = os.path.join(testdir, "flaps.txt")
@ -937,6 +1025,8 @@ class AutoTestPlane(AutoTest):
("TestFlaps", "Flaps", self.fly_flaps),
("DO_CHANGE_SPEED", "Test mavlink DO_CHANGE_SPEED command", self.fly_do_change_speed),
("MainFlight",
"Lots of things in one flight",
self.test_main_flight),