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Tools: remove AP_Limits unit test

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Daniel Frenzel 2016-02-04 09:49:29 +09:00 committed by Randy Mackay
parent b01406e671
commit a735db2870
1 changed files with 0 additions and 62 deletions
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62
Tools/autotest/apm_unit_tests/dev/arducopter_AP_Limits.py
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import arducopter
import util, pexpect, sys, time, math, shutil, os
from common import *
import mavutil, mavwp, random
def unit_test(mavproxy, mav):
'''A scripted flight plan for testing AP_Limits'''
time.sleep(5)
print "# Setting AP_Limits parameters"
mavproxy.send('param set LIM_ENABLED 1\n')
mavproxy.send('param set LIM_REQUIRED 0\n')
mavproxy.send('param set LIM_DEBUG 1\n')
mavproxy.send('param set LIM_SAFETIME 1\n')
mavproxy.send('param set LIM_ALT_ON 1\n')
mavproxy.send('param set LIM_ALT_REQ 0\n')
mavproxy.send('param set LIM_ALT_MIN 0\n')
mavproxy.send('param set LIM_ALT_MAX 50\n')
mavproxy.send('param set LIM_FNC_ON 0\n')
mavproxy.send('param set LIM_FNC_REQ 0\n')
mavproxy.send('param set LIM_FNC_SMPL 1\n')
mavproxy.send('param set LIM_FNC_RAD 50\n')
time.sleep(5)
print "# Listing AP_Limits parameters"
mavproxy.send('param show LIM*\n')
if (
arducopter.calibrate_level(mavproxy, mav) and
arducopter.arm_motors(mavproxy, mav) and
arducopter.takeoff(mavproxy,mav, alt_min=30, takeoff_throttle=1510) and
arducopter.hover(mavproxy, mav, hover_throttle=1500)
):
# Trigger for ALT_MAX
climb_rate = 0
previous_alt = 0
timeout = 30
# Do Not Exceed altitude
alt_dne = 55
tstart = time.time()
mavproxy.send('rc 3 1550\n')
while (time.time() < tstart + timeout):
m = mav.recv_match(type='VFR_HUD', blocking=True)
climb_rate = m.alt - previous_alt
previous_alt = m.alt
print("Trigger Altitude Limit: Cur:%u, climb_rate: %u" % (m.alt, climb_rate))
if abs(climb_rate) > 0:
tstart = time.time();
if (mav.recv_match(condition='MAV.flightmode=="GUIDED"', blocking=False) != None):
print "Triggered!"
return True
if m.alt >= alt_dne :
print("Altitude Exceeded")
return False
return False
return False