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Tools: Make soaring test a subclass of plane test.

This commit is contained in:
Samuel Tabor 2020-04-06 01:45:02 +01:00 committed by Andrew Tridgell
parent 4a39a43c10
commit a4c5e12fac
4 changed files with 125 additions and 187 deletions
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120
Tools/autotest/arduplane.py
View File

@ -14,6 +14,8 @@ from common import AutoTestTimeoutException
from common import NotAchievedException
from common import PreconditionFailedException
import operator
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
SITL_START_LOCATION = mavutil.location(-35.362938, 149.165085, 585, 354)
@ -1746,3 +1748,121 @@ class AutoTestPlane(AutoTest):
upload_logs=True))
])
return ret
class AutoTestSoaring(AutoTestPlane):
def log_name(self):
return "Soaring"
def default_frame(self):
return "plane-soaring"
def defaults_filepath(self):
return os.path.join(testdir, 'default_params/plane.parm')
def fly_mission(self):
self.set_parameter("SOAR_ENABLE", 1)
self.repeatedly_apply_parameter_file('default_params/plane-soaring.parm')
self.load_mission('ArduPlane-Missions/CMAC-soar.txt')
self.mavproxy.send("wp set 1\n")
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
# Enable thermalling RC
rc_chan = self.get_parameter('SOAR_ENABLE_CH')
self.send_set_rc(rc_chan, 1900)
# Wait to detect thermal
self.progress("Waiting for thermal")
self.wait_mode('LOITER',timeout=600)
# Wait to climb to SOAR_ALT_MAX
self.progress("Waiting for climb to max altitude")
alt_max = self.get_parameter('SOAR_ALT_MAX')
self.wait_altitude(alt_max-10, alt_max, timeout=600, relative=True)
# Wait for AUTO
self.progress("Waiting for AUTO mode")
self.wait_mode('AUTO')
# Disable thermals
self.set_parameter("SIM_THML_SCENARI", 0)
# Wait to descent to SOAR_ALT_MIN
self.progress("Waiting for glide to min altitude")
alt_min = self.get_parameter('SOAR_ALT_MIN')
self.wait_altitude(alt_min-10, alt_min, timeout=600, relative=True)
self.progress("Waiting for throttle up")
self.wait_servo_channel_value(3, 1200, timeout=2, comparator=operator.gt)
self.progress("Waiting for climb to cutoff altitude")
alt_ctf = self.get_parameter('SOAR_ALT_CUTOFF')
self.wait_altitude(alt_ctf-10, alt_ctf, timeout=600, relative=True)
# Now set FBWB mode
self.change_mode('FBWB')
self.delay_sim_time(5)
# Now disable soaring (should hold altitude)
self.set_parameter("SOAR_ENABLE", 0)
self.delay_sim_time(10)
#And reenable. This should force throttle-down
self.set_parameter("SOAR_ENABLE", 1)
self.delay_sim_time(10)
# Now wait for descent and check RTL
self.wait_altitude(alt_min-10, alt_min, timeout=600, relative=True)
self.progress("Waiting for RTL")
self.wait_mode('RTL')
alt_rtl = self.get_parameter('ALT_HOLD_RTL')/100
# Wait for climb to RTL.
self.progress("Waiting for climb to RTL altitude")
self.wait_altitude(alt_rtl-5, alt_rtl+5, timeout=60, relative=True)
# Back to auto
self.change_mode('AUTO')
# Reenable thermals
self.set_parameter("SIM_THML_SCENARI", 1)
# Disable soaring using RC channel.
self.send_set_rc(rc_chan, 1100)
# Wait to get back to waypoint before thermal.
self.progress("Waiting to get back to position")
self.wait_current_waypoint(3,timeout=1200)
# Enable soaring with mode changes suppressed)
self.send_set_rc(rc_chan, 1500)
# Make sure this causes throttle down.
self.wait_servo_channel_value(3, 1200, timeout=2, comparator=operator.lt)
self.progress("Waiting for next WP with no loiter")
self.wait_waypoint(4,4,timeout=1200,max_dist=120)
# Disarm
self.disarm_vehicle()
self.progress("Mission OK")
def tests(self):
'''return list of all tests'''
ret = AutoTest.tests(self)
'''return list of all tests'''
ret.extend([
("Mission", "Soaring mission",
self.fly_mission)
])
return ret

3
Tools/autotest/autotest.py
View File

@ -24,7 +24,6 @@ import ardusub
import antennatracker
import quadplane
import balancebot
import soaring
import examples
from pysim import util
@ -306,7 +305,7 @@ tester_class_map = {
"test.Helicopter": arducopter.AutoTestHeli,
"test.Sub": ardusub.AutoTestSub,
"test.Tracker": antennatracker.AutoTestTracker,
"test.Soaring": soaring.AutoTestSoaring,
"test.Soaring": arduplane.AutoTestSoaring,
}
def run_specific_test(step, *args, **kwargs):

5
Tools/autotest/common.py
View File

@ -1011,7 +1011,7 @@ class AutoTest(ABC):
vehicle = self.log_name()
if vehicle == "HeliCopter":
vehicle = "ArduCopter"
if vehicle == "QuadPlane":
if vehicle == "QuadPlane" or vehicle =="Soaring":
vehicle = "ArduPlane"
cmd = [param_parse_filepath, '--vehicle', vehicle]
# cmd.append("--verbose")
@ -1074,6 +1074,8 @@ class AutoTest(ABC):
dirname = "ArduPlane"
elif dirname == "HeliCopter":
dirname = "ArduCopter"
elif dirname == "Soaring":
dirname = "ArduPlane"
return os.path.join(self.rootdir(), dirname)
def all_log_format_ids(self):
@ -1296,6 +1298,7 @@ class AutoTest(ABC):
"HeliCopter": "Copter",
"ArduPlane": "Plane",
"QuadPlane": "Plane",
"Soaring": "Plane",
"APMrover2": "Rover",
"AntennaTracker": "Tracker",
"ArduSub": "Sub",

184
Tools/autotest/soaring.py
View File

@ -1,184 +0,0 @@
#!/usr/bin/env python
# Fly ArduSoar in SITL
from __future__ import print_function
import os
import pexpect
from pymavlink import mavutil
from common import AutoTest
from common import AutoTestTimeoutException
from pysim import util
from pysim import vehicleinfo
import operator
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
SITL_START_LOCATION = mavutil.location(-35.362938, 149.165085, 585, 354)
MISSION = 'ArduPlane-Missions/CMAC-soar.txt'
WIND = "0,180,0.2" # speed,direction,variance
class AutoTestSoaring(AutoTest):
def default_frame(self):
return "plane-soaring"
def test_filepath(self):
return os.path.realpath(__file__)
def sitl_start_location(self):
return SITL_START_LOCATION
def log_name(self):
return "Soaring"
def apply_defaultfile_parameters(self):
# plane passes in a defaults_file in place of applying
# parameters afterwards.
pass
def defaults_filepath(self):
vinfo = vehicleinfo.VehicleInfo()
defaults_file = vinfo.options["ArduPlane"]["frames"][self.frame]["default_params_filename"]
if isinstance(defaults_file, str):
defaults_file = [defaults_file]
defaults_list = []
for d in defaults_file:
defaults_list.append(os.path.join(testdir, d))
return ','.join(defaults_list)
def is_plane(self):
return True
def get_stick_arming_channel(self):
return int(self.get_parameter("RCMAP_YAW"))
def get_disarm_delay(self):
return int(self.get_parameter("LAND_DISARMDELAY"))
def set_autodisarm_delay(self, delay):
self.set_parameter("LAND_DISARMDELAY", delay)
def fly_mission(self):
self.set_parameter("SOAR_ENABLE", 1)
self.repeatedly_apply_parameter_file('default_params/plane-soaring.parm')
self.load_mission(MISSION)
self.mavproxy.send("wp set 1\n")
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
# Enable thermalling RC
rc_chan = self.get_parameter('SOAR_ENABLE_CH')
self.send_set_rc(rc_chan, 1900)
# Wait to detect thermal
self.progress("Waiting for thermal")
self.wait_mode('LOITER',timeout=600)
# Wait to climb to SOAR_ALT_MAX
self.progress("Waiting for climb to max altitude")
alt_max = self.get_parameter('SOAR_ALT_MAX')
self.wait_altitude(alt_max-10, alt_max, timeout=600, relative=True)
# Wait for AUTO
self.progress("Waiting for AUTO mode")
self.wait_mode('AUTO')
# Disable thermals
self.set_parameter("SIM_THML_SCENARI", 0)
# Wait to descent to SOAR_ALT_MIN
self.progress("Waiting for glide to min altitude")
alt_min = self.get_parameter('SOAR_ALT_MIN')
self.wait_altitude(alt_min-10, alt_min, timeout=600, relative=True)
self.progress("Waiting for throttle up")
self.wait_servo_channel_value(3, 1200, timeout=2, comparator=operator.gt)
self.progress("Waiting for climb to cutoff altitude")
alt_ctf = self.get_parameter('SOAR_ALT_CUTOFF')
self.wait_altitude(alt_ctf-10, alt_ctf, timeout=600, relative=True)
# Now set FBWB mode
self.change_mode('FBWB')
self.delay_sim_time(5)
# Now disable soaring (should hold altitude)
self.set_parameter("SOAR_ENABLE", 0)
self.delay_sim_time(10)
#And reenable. This should force throttle-down
self.set_parameter("SOAR_ENABLE", 1)
self.delay_sim_time(10)
# Now wait for descent and check RTL
self.wait_altitude(alt_min-10, alt_min, timeout=600, relative=True)
self.progress("Waiting for RTL")
self.wait_mode('RTL')
alt_rtl = self.get_parameter('ALT_HOLD_RTL')/100
# Wait for climb to RTL.
self.progress("Waiting for climb to RTL altitude")
self.wait_altitude(alt_rtl-5, alt_rtl+5, timeout=60, relative=True)
# Back to auto
self.change_mode('AUTO')
# Reenable thermals
self.set_parameter("SIM_THML_SCENARI", 1)
# Disable soaring using RC channel.
self.send_set_rc(rc_chan, 1100)
# Wait to get back to waypoint before thermal.
self.progress("Waiting to get back to position")
self.wait_current_waypoint(3,timeout=1200)
# Enable soaring with mode changes suppressed)
self.send_set_rc(rc_chan, 1500)
# Make sure this causes throttle down.
self.wait_servo_channel_value(3, 1200, timeout=2, comparator=operator.lt)
self.progress("Waiting for next WP with no loiter")
self.wait_waypoint(4,4,timeout=1200,max_dist=120)
# Disarm
self.disarm_vehicle()
self.progress("Mission OK")
def default_mode(self):
return "MANUAL"
def test_pid_tuning(self):
# Do nothing, covered by fly.ArduPlane
self.progress("Skipped")
def test_arm_feature(self):
# Do nothing, covered by fly.ArduPlane
self.progress("Skipped")
def fly_test_set_home(self):
# Do nothing, covered by fly.ArduPlane
self.progress("Skipped")
def tests(self):
'''return list of all tests'''
ret = super(AutoTestSoaring, self).tests()
ret.extend([
("Mission", "CMAC Mission",
self.fly_mission)
])
return ret