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autotest: added test.Copter.Replay test

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This commit is contained in:
Andrew Tridgell 2020-11-08 21:29:20 +11:00
parent f1f547f723
commit a37cae5dae
2 changed files with 72 additions and 0 deletions
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67
Tools/autotest/arducopter.py
View File

@ -8,6 +8,8 @@ import os
import shutil
import time
import numpy
import sys
import shutil
from pymavlink import mavutil
from pymavlink import mavextra
@ -5292,6 +5294,67 @@ class AutoTestCopter(AutoTest):
self.context_pop()
self.disarm_vehicle(force=True)
def test_replay(self):
'''test replay correctness'''
self.context_push()
self.set_parameter("LOG_REPLAY", 1)
self.set_parameter("LOG_DISARMED", 1)
self.set_parameter("EK3_ENABLE", 1)
self.set_parameter("EK2_ENABLE", 1)
self.set_parameter("AHRS_TRIM_X", 0.01)
self.set_parameter("AHRS_TRIM_Y", -0.03)
self.set_parameter("GPS_TYPE2", 1)
self.set_parameter("GPS_POS1_X", 0.1)
self.set_parameter("GPS_POS1_Y", 0.2)
self.set_parameter("GPS_POS1_Z", 0.3)
self.set_parameter("GPS_POS2_X", -0.1)
self.set_parameter("GPS_POS2_Y", -0.02)
self.set_parameter("GPS_POS2_Z", -0.31)
self.set_parameter("INS_POS1_X", 0.12)
self.set_parameter("INS_POS1_Y", 0.14)
self.set_parameter("INS_POS1_Z", -0.02)
self.set_parameter("INS_POS2_X", 0.07)
self.set_parameter("INS_POS2_Y", 0.012)
self.set_parameter("INS_POS2_Z", -0.06)
self.set_parameter("RNGFND1_TYPE", 1)
self.set_parameter("RNGFND1_PIN", 0)
self.set_parameter("RNGFND1_SCALING", 30)
self.set_parameter("RNGFND1_POS_X", 0.17)
self.set_parameter("RNGFND1_POS_Y", -0.07)
self.set_parameter("RNGFND1_POS_Z", -0.005)
self.set_parameter("SIM_SONAR_SCALE", 30)
self.set_parameter("SIM_GPS2_DISABLE", 0)
self.reboot_sitl()
current_log_filepath = self.current_onboard_log_filepath()
self.progress("Current log path: %s" % str(current_log_filepath))
self.change_mode("LOITER")
self.arm_vehicle()
self.takeoffAndMoveAway()
self.do_RTL()
self.progress("Running replay")
shutil.rmtree("logs/replay")
util.run_cmd(['build/linux/tools/Replay', '--log-directory=logs/replay', '--', current_log_filepath],
directory=util.topdir(), checkfail=True, show=True)
self.context_pop()
check_replay_py = os.path.join(util.topdir(), "Tools/Replay/check_replay.py")
if sys.version_info.major >= 3:
import importlib.util
spec = importlib.util.spec_from_file_location("check_replay", check_replay_py)
check_replay = importlib.util.module_from_spec(spec)
spec.loader.exec_module(check_replay)
else:
import imp
check_replay = imp.load_source("check_replay", os.path.join(util.topdir(), "Tools/Replay/check_replay.py"))
ok = check_replay.check_log("logs/replay/00000001.BIN", self.progress)
if not ok:
raise NotAchievedException("check_replay failed")
# a wrapper around all the 1A,1B,1C..etc tests for travis
def tests1(self):
ret = ([])
@ -5636,6 +5699,10 @@ class AutoTestCopter(AutoTest):
"Test DataFlash Block backend erase",
self.test_dataflash_erase),
("Replay",
"Test Replay",
self.test_replay),
("LogUpload",
"Log upload",
self.log_upload),

5
Tools/autotest/autotest.py
View File

@ -412,6 +412,9 @@ def run_step(step):
if step == 'build.SITLPeriphGPS':
vehicle_binary = 'sitl_periph_gps.bin/AP_Periph'
if step == 'build.Replay':
return util.build_SITL('tools/Replay', board='linux')
if vehicle_binary is not None:
if len(vehicle_binary.split(".")) == 1:
return util.build_SITL(vehicle_binary, **build_opts)
@ -861,6 +864,8 @@ if __name__ == "__main__":
'build.All',
'build.Parameters',
'build.Replay',
'build.unit_tests',
'run.unit_tests',
'build.examples',