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autotest: use set_parameters some more

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Peter Barker 2021-11-24 12:22:21 +11:00 committed by Peter Barker
parent 7abf07f233
commit b2f00d469e
2 changed files with 507 additions and 323 deletions
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609
Tools/autotest/arducopter.py
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@ -319,11 +319,15 @@ class AutoTestCopter(AutoTest):
def setGCSfailsafe(self, paramValue=0):
# Slow down the sim rate if GCS Failsafe is in use
if paramValue == 0:
self.set_parameter("FS_GCS_ENABLE", paramValue)
self.set_parameter("SIM_SPEEDUP", 10)
self.set_parameters({
"FS_GCS_ENABLE": paramValue,
"SIM_SPEEDUP": 10,
})
else:
self.set_parameter("SIM_SPEEDUP", 4)
self.set_parameter("FS_GCS_ENABLE", paramValue)
self.set_parameters({
"SIM_SPEEDUP": 4,
"FS_GCS_ENABLE": paramValue,
})
# fly a square in alt_hold mode
def fly_square(self, side=50, timeout=300):
@ -473,8 +477,10 @@ class AutoTestCopter(AutoTest):
ex = None
try:
self.set_parameter("PLND_ENABLED", 1)
self.set_parameter("PLND_TYPE", 4)
self.set_parameters({
"PLND_ENABLED": 1,
"PLND_TYPE": 4,
})
self.set_analog_rangefinder_parameters()
@ -908,11 +914,13 @@ class AutoTestCopter(AutoTest):
self.disarm_vehicle(force=True)
ex = e
self.set_parameter('BATT_LOW_VOLT', 0)
self.set_parameter('BATT_CRT_VOLT', 0)
self.set_parameter('BATT_FS_LOW_ACT', 0)
self.set_parameter('BATT_FS_CRT_ACT', 0)
self.set_parameter('FS_OPTIONS', 0)
self.set_parameters({
'BATT_LOW_VOLT': 0,
'BATT_CRT_VOLT': 0,
'BATT_FS_LOW_ACT': 0,
'BATT_FS_CRT_ACT': 0,
'FS_OPTIONS': 0,
})
self.reboot_sitl()
if ex is not None:
@ -963,9 +971,11 @@ class AutoTestCopter(AutoTest):
self.start_subtest("Two stage battery failsafe test with RTL and Land")
self.takeoffAndMoveAway()
self.delay_sim_time(3)
self.set_parameter('BATT_FS_LOW_ACT', 2)
self.set_parameter('BATT_FS_CRT_ACT', 1)
self.set_parameter('SIM_BATT_VOLTAGE', 11.4)
self.set_parameters({
'BATT_FS_LOW_ACT': 2,
'BATT_FS_CRT_ACT': 1,
'SIM_BATT_VOLTAGE': 11.4,
})
self.wait_statustext("Battery 1 is low", timeout=60)
self.delay_sim_time(5)
self.wait_mode("RTL")
@ -1024,10 +1034,12 @@ class AutoTestCopter(AutoTest):
# is prevented from stopping the low battery landing.
self.start_subtest("Battery failsafe critical landing")
self.takeoffAndMoveAway(100, 50)
self.set_parameter('FS_OPTIONS', 0)
self.set_parameter('BATT_FS_LOW_ACT', 1)
self.set_parameter('BATT_FS_CRT_ACT', 1)
self.set_parameter('FS_THR_ENABLE', 1)
self.set_parameters({
'FS_OPTIONS': 0,
'BATT_FS_LOW_ACT': 1,
'BATT_FS_CRT_ACT': 1,
'FS_THR_ENABLE': 1,
})
self.delay_sim_time(5)
self.set_parameter('SIM_BATT_VOLTAGE', 10.0)
self.wait_statustext("Battery 1 is critical", timeout=60)
@ -1157,15 +1169,17 @@ class AutoTestCopter(AutoTest):
def fly_fence_avoid_test_radius_check(self, timeout=180, avoid_behave=avoid_behave_slide):
using_mode = "LOITER" # must be something which adjusts velocity!
self.change_mode(using_mode)
self.set_parameter("FENCE_ENABLE", 1) # fence
self.set_parameter("FENCE_TYPE", 2) # circle
fence_radius = 15
self.set_parameter("FENCE_RADIUS", fence_radius)
fence_margin = 3
self.set_parameter("FENCE_MARGIN", fence_margin)
self.set_parameter("AVOID_ENABLE", 1)
self.set_parameter("AVOID_BEHAVE", avoid_behave)
self.set_parameter("RC10_OPTION", 40) # avoid-enable
self.set_parameters({
"FENCE_ENABLE": 1, # fence
"FENCE_TYPE": 2, # circle
"FENCE_RADIUS": fence_radius,
"FENCE_MARGIN": fence_margin,
"AVOID_ENABLE": 1,
"AVOID_BEHAVE": avoid_behave,
"RC10_OPTION": 40, # avoid-enable
})
self.wait_ready_to_arm()
self.set_rc(10, 2000)
home_distance = self.distance_to_home(use_cached_home=True)
@ -1258,8 +1272,10 @@ class AutoTestCopter(AutoTest):
# fly_fence_test - fly east until you hit the horizontal circular fence
def fly_fence_test(self, timeout=180):
# enable fence, disable avoidance
self.set_parameter("FENCE_ENABLE", 1)
self.set_parameter("AVOID_ENABLE", 0)
self.set_parameters({
"FENCE_ENABLE": 1,
"AVOID_ENABLE": 0,
})
self.change_mode("LOITER")
self.wait_ready_to_arm()
@ -1361,9 +1377,11 @@ class AutoTestCopter(AutoTest):
"""Hold loiter position."""
# enable fence, disable avoidance
self.set_parameter("FENCE_ENABLE", 1)
self.set_parameter("AVOID_ENABLE", 0)
self.set_parameter("FENCE_TYPE", 1)
self.set_parameters({
"FENCE_ENABLE": 1,
"AVOID_ENABLE": 0,
"FENCE_TYPE": 1,
})
self.change_alt(10)
@ -1395,9 +1413,11 @@ class AutoTestCopter(AutoTest):
self.takeoff(30, mode="LOITER", timeout=60)
# enable fence, disable avoidance
self.set_parameter("AVOID_ENABLE", 0)
self.set_parameter("FENCE_TYPE", 8)
self.set_parameter("FENCE_ALT_MIN", 20)
self.set_parameters({
"AVOID_ENABLE": 0,
"FENCE_TYPE": 8,
"FENCE_ALT_MIN": 20,
})
self.change_alt(30)
@ -1437,10 +1457,12 @@ class AutoTestCopter(AutoTest):
fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
self.progress("Test Landing while fence floor enabled")
self.set_parameter("AVOID_ENABLE", 0)
self.set_parameter("FENCE_TYPE", 15)
self.set_parameter("FENCE_ALT_MIN", 10)
self.set_parameter("FENCE_ALT_MAX", 20)
self.set_parameters({
"AVOID_ENABLE": 0,
"FENCE_TYPE": 15,
"FENCE_ALT_MIN": 10,
"FENCE_ALT_MAX": 20,
})
self.change_mode("GUIDED")
self.wait_ready_to_arm()
@ -1521,8 +1543,10 @@ class AutoTestCopter(AutoTest):
# initialise current glitch
glitch_current = 0
self.progress("Apply first glitch")
self.set_parameter("SIM_GPS_GLITCH_X", glitch_lat[glitch_current])
self.set_parameter("SIM_GPS_GLITCH_Y", glitch_lon[glitch_current])
self.set_parameters({
"SIM_GPS_GLITCH_X": glitch_lat[glitch_current],
"SIM_GPS_GLITCH_Y": glitch_lon[glitch_current],
})
# record position for 30 seconds
while tnow < tstart + timeout:
@ -1534,13 +1558,17 @@ class AutoTestCopter(AutoTest):
if glitch_current >= glitch_num:
glitch_current = -1
self.progress("Completed Glitches")
self.set_parameter("SIM_GPS_GLITCH_X", 0)
self.set_parameter("SIM_GPS_GLITCH_Y", 0)
self.set_parameters({
"SIM_GPS_GLITCH_X": 0,
"SIM_GPS_GLITCH_Y": 0,
})
else:
self.progress("Applying glitch %u" % glitch_current)
# move onto the next glitch
self.set_parameter("SIM_GPS_GLITCH_X", glitch_lat[glitch_current])
self.set_parameter("SIM_GPS_GLITCH_Y", glitch_lon[glitch_current])
self.set_parameters({
"SIM_GPS_GLITCH_X": glitch_lat[glitch_current],
"SIM_GPS_GLITCH_Y": glitch_lon[glitch_current],
})
# start displaying distance moved after all glitches applied
if glitch_current == -1:
@ -1559,8 +1587,10 @@ class AutoTestCopter(AutoTest):
# disable gps glitch
if glitch_current != -1:
self.set_parameter("SIM_GPS_GLITCH_X", 0)
self.set_parameter("SIM_GPS_GLITCH_Y", 0)
self.set_parameters({
"SIM_GPS_GLITCH_X": 0,
"SIM_GPS_GLITCH_Y": 0,
})
if self.use_map:
self.show_gps_and_sim_positions(False)
@ -1657,8 +1687,10 @@ class AutoTestCopter(AutoTest):
# initialise current glitch
glitch_current = 0
self.progress("Apply first glitch")
self.set_parameter("SIM_GPS_GLITCH_X", glitch_lat[glitch_current])
self.set_parameter("SIM_GPS_GLITCH_Y", glitch_lon[glitch_current])
self.set_parameters({
"SIM_GPS_GLITCH_X": glitch_lat[glitch_current],
"SIM_GPS_GLITCH_Y": glitch_lon[glitch_current],
})
# record position for 30 seconds
while glitch_current < glitch_num:
@ -1669,15 +1701,17 @@ class AutoTestCopter(AutoTest):
# apply next glitch
if glitch_current < glitch_num:
self.progress("Applying glitch %u" % glitch_current)
self.set_parameter("SIM_GPS_GLITCH_X",
glitch_lat[glitch_current])
self.set_parameter("SIM_GPS_GLITCH_Y",
glitch_lon[glitch_current])
self.set_parameters({
"SIM_GPS_GLITCH_X": glitch_lat[glitch_current],
"SIM_GPS_GLITCH_Y": glitch_lon[glitch_current],
})
# turn off glitching
self.progress("Completed Glitches")
self.set_parameter("SIM_GPS_GLITCH_X", 0)
self.set_parameter("SIM_GPS_GLITCH_Y", 0)
self.set_parameters({
"SIM_GPS_GLITCH_X": 0,
"SIM_GPS_GLITCH_Y": 0,
})
# continue with the mission
self.wait_waypoint(0, num_wp-1, timeout=500)
@ -1824,8 +1858,10 @@ class AutoTestCopter(AutoTest):
# test_mag_fail - test failover of compass in EKF
def test_mag_fail(self):
# we want both EK2 and EK3
self.set_parameter("EK2_ENABLE", 1)
self.set_parameter("EK3_ENABLE", 1)
self.set_parameters({
"EK2_ENABLE": 1,
"EK3_ENABLE": 1,
})
self.takeoff(10, mode="LOITER")
@ -2067,8 +2103,10 @@ class AutoTestCopter(AutoTest):
raise ex
def fly_autotune_switch_body(self):
self.set_parameter("RC8_OPTION", 17)
self.set_parameter("ATC_RAT_RLL_FLTT", 20)
self.set_parameters({
"RC8_OPTION": 17,
"ATC_RAT_RLL_FLTT": 20,
})
rlld = self.get_parameter("ATC_RAT_RLL_D")
rlli = self.get_parameter("ATC_RAT_RLL_I")
rllp = self.get_parameter("ATC_RAT_RLL_P")
@ -2178,10 +2216,12 @@ class AutoTestCopter(AutoTest):
# fly_auto_test using CAN GPS - fly mission which tests normal operation alongside CAN GPS
def fly_auto_test_using_can_gps(self):
self.set_parameter("CAN_P1_DRIVER", 1)
self.set_parameter("GPS_TYPE", 9)
self.set_parameter("GPS_TYPE2", 9)
self.set_parameter("SIM_GPS2_DISABLE", 0)
self.set_parameters({
"CAN_P1_DRIVER": 1,
"GPS_TYPE": 9,
"GPS_TYPE2": 9,
"SIM_GPS2_DISABLE": 0,
})
self.context_push()
self.set_parameter("ARMING_CHECK", 1 << 3)
@ -2210,8 +2250,10 @@ class AutoTestCopter(AutoTest):
[0, gps2_nodeid, gps1_nodeid, gps2_nodeid, ""]]
for case in GPS_Order_Tests:
self.progress("############################### Trying Case: " + str(case))
self.set_parameter("GPS1_CAN_OVRIDE", case[0])
self.set_parameter("GPS2_CAN_OVRIDE", case[1])
self.set_parameters({
"GPS1_CAN_OVRIDE": case[0],
"GPS2_CAN_OVRIDE": case[1],
})
self.drain_mav()
self.context_collect('STATUSTEXT')
self.reboot_sitl()
@ -2310,8 +2352,10 @@ class AutoTestCopter(AutoTest):
if not failed and now - tstart > hover_time:
self.progress("Killing motor %u (%u%%)" %
(fail_servo+1, fail_mul))
self.set_parameter("SIM_ENGINE_FAIL", fail_servo)
self.set_parameter("SIM_ENGINE_MUL", fail_mul)
self.set_parameters({
"SIM_ENGINE_FAIL": fail_servo,
"SIM_ENGINE_MUL": fail_mul,
})
failed = True
if failed:
@ -2366,11 +2410,15 @@ class AutoTestCopter(AutoTest):
if alt_delta < -20:
raise NotAchievedException("Vehicle is descending")
self.set_parameter("SIM_ENGINE_FAIL", 0)
self.set_parameter("SIM_ENGINE_MUL", 1.0)
self.set_parameters({
"SIM_ENGINE_FAIL": 0,
"SIM_ENGINE_MUL": 1.0,
})
except Exception as e:
self.set_parameter("SIM_ENGINE_FAIL", 0)
self.set_parameter("SIM_ENGINE_MUL", 1.0)
self.set_parameters({
"SIM_ENGINE_FAIL": 0,
"SIM_ENGINE_MUL": 1.0,
})
raise e
self.do_RTL()
@ -2482,13 +2530,17 @@ class AutoTestCopter(AutoTest):
if ahrs_ekf_type == 2:
self.set_parameter("EK2_GPS_TYPE", 3)
if ahrs_ekf_type == 3:
self.set_parameter("EK3_SRC1_POSXY", 6)
self.set_parameter("EK3_SRC1_VELXY", 6)
self.set_parameter("EK3_SRC1_POSZ", 6)
self.set_parameter("EK3_SRC1_VELZ", 6)
self.set_parameter("GPS_TYPE", 0)
self.set_parameter("VISO_TYPE", 1)
self.set_parameter("SERIAL5_PROTOCOL", 1)
self.set_parameters({
"EK3_SRC1_POSXY": 6,
"EK3_SRC1_VELXY": 6,
"EK3_SRC1_POSZ": 6,
"EK3_SRC1_VELZ": 6,
})
self.set_parameters({
"GPS_TYPE": 0,
"VISO_TYPE": 1,
"SERIAL5_PROTOCOL": 1,
})
self.reboot_sitl()
# without a GPS or some sort of external prompting, AP
# doesn't send system_time messages. So prompt it:
@ -2700,9 +2752,11 @@ class AutoTestCopter(AutoTest):
wpnav_accel_mss = 3
tolerance = 0.5
self.load_mission("copter_rtl_speed.txt")
self.set_parameter('WPNAV_ACCEL', wpnav_accel_mss * 100)
self.set_parameter('RTL_SPEED', rtl_speed_ms * 100)
self.set_parameter('WPNAV_SPEED', wpnav_speed_ms * 100)
self.set_parameters({
'WPNAV_ACCEL': wpnav_accel_mss * 100,
'RTL_SPEED': rtl_speed_ms * 100,
'WPNAV_SPEED': wpnav_speed_ms * 100,
})
self.change_mode('LOITER')
self.wait_ready_to_arm()
self.arm_vehicle()
@ -3062,11 +3116,13 @@ class AutoTestCopter(AutoTest):
def test_parachute(self):
self.set_rc(9, 1000)
self.set_parameter("CHUTE_ENABLED", 1)
self.set_parameter("CHUTE_TYPE", 10)
self.set_parameter("SERVO9_FUNCTION", 27)
self.set_parameter("SIM_PARA_ENABLE", 1)
self.set_parameter("SIM_PARA_PIN", 9)
self.set_parameters({
"CHUTE_ENABLED": 1,
"CHUTE_TYPE": 10,
"SERVO9_FUNCTION": 27,
"SIM_PARA_ENABLE": 1,
"SIM_PARA_PIN": 9,
})
self.progress("Test triggering parachute in mission")
self.load_mission("copter_parachute_mission.txt")
@ -3108,8 +3164,10 @@ class AutoTestCopter(AutoTest):
self.progress("Crashing with 3pos switch in enable position")
self.takeoff(40)
self.set_rc(9, 1500)
self.set_parameter("SIM_ENGINE_MUL", 0)
self.set_parameter("SIM_ENGINE_FAIL", 1)
self.set_parameters({
"SIM_ENGINE_MUL": 0,
"SIM_ENGINE_FAIL": 1,
})
self.wait_statustext('BANG', timeout=60)
self.set_rc(9, 1000)
self.disarm_vehicle(force=True)
@ -3120,8 +3178,10 @@ class AutoTestCopter(AutoTest):
loiter_alt = 10
self.takeoff(loiter_alt, mode='LOITER')
self.set_rc(9, 1100)
self.set_parameter("SIM_ENGINE_MUL", 0)
self.set_parameter("SIM_ENGINE_FAIL", 1)
self.set_parameters({
"SIM_ENGINE_MUL": 0,
"SIM_ENGINE_FAIL": 1,
})
tstart = self.get_sim_time()
while self.get_sim_time_cached() < tstart + 5:
m = self.mav.recv_match(type='STATUSTEXT', blocking=True, timeout=1)
@ -3184,8 +3244,10 @@ class AutoTestCopter(AutoTest):
for backend in [4, 2]: # SITL, SITL-IRLOCK
ex = None
try:
self.set_parameter("PLND_ENABLED", 1)
self.set_parameter("PLND_TYPE", backend)
self.set_parameters({
"PLND_ENABLED": 1,
"PLND_TYPE": backend,
})
self.set_analog_rangefinder_parameters()
self.set_parameter("SIM_SONAR_SCALE", 12)
@ -3195,12 +3257,14 @@ class AutoTestCopter(AutoTest):
(target.lat, target.lng) = mavextra.gps_offset(start.lat, start.lng, 4, -4)
self.progress("Setting target to %f %f" % (target.lat, target.lng))
self.set_parameter("SIM_PLD_ENABLE", 1)
self.set_parameter("SIM_PLD_LAT", target.lat)
self.set_parameter("SIM_PLD_LON", target.lng)
self.set_parameter("SIM_PLD_HEIGHT", 0)
self.set_parameter("SIM_PLD_ALT_LMT", 15)
self.set_parameter("SIM_PLD_DIST_LMT", 10)
self.set_parameters({
"SIM_PLD_ENABLE": 1,
"SIM_PLD_LAT": target.lat,
"SIM_PLD_LON": target.lng,
"SIM_PLD_HEIGHT": 0,
"SIM_PLD_ALT_LMT": 15,
"SIM_PLD_DIST_LMT": 10,
})
self.reboot_sitl()
@ -3580,8 +3644,10 @@ class AutoTestCopter(AutoTest):
self.wait_mode("CIRCLE")
self.set_rc(9, 1000)
self.set_rc(10, 1000)
self.set_parameter("RC9_OPTION", 18) # land
self.set_parameter("RC10_OPTION", 55) # guided
self.set_parameters({
"RC9_OPTION": 18, # land
"RC10_OPTION": 55, # guided
})
self.set_rc(9, 1900)
self.wait_mode("LAND")
self.set_rc(10, 1900)
@ -3883,12 +3949,14 @@ class AutoTestCopter(AutoTest):
ex = None
try:
self.set_analog_rangefinder_parameters()
self.set_parameter("GRIP_ENABLE", 1)
self.set_parameter("GRIP_TYPE", 1)
self.set_parameter("SIM_GRPS_ENABLE", 1)
self.set_parameter("SIM_GRPS_PIN", 8)
self.set_parameter("SERVO8_FUNCTION", 28)
self.set_parameter("RC9_OPTION", 19)
self.set_parameters({
"GRIP_ENABLE": 1,
"GRIP_TYPE": 1,
"SIM_GRPS_ENABLE": 1,
"SIM_GRPS_PIN": 8,
"SERVO8_FUNCTION": 28,
"RC9_OPTION": 19,
})
self.reboot_sitl()
self.set_rc(9, 2000)
# load the mission:
@ -3926,8 +3994,10 @@ class AutoTestCopter(AutoTest):
'''start by disabling GCS failsafe, otherwise we immediately disarm
due to (apparently) not receiving traffic from the GCS for
too long. This is probably a function of --speedup'''
self.set_parameter("FS_GCS_ENABLE", 0)
self.set_parameter("DISARM_DELAY", 0) # until traffic problems are fixed
self.set_parameters({
"FS_GCS_ENABLE": 0,
"DISARM_DELAY": 0, # until traffic problems are fixed
})
self.change_mode("GUIDED")
self.wait_ready_to_arm()
self.arm_vehicle()
@ -4076,10 +4146,12 @@ class AutoTestCopter(AutoTest):
def setup_servo_mount(self, roll_servo=5, pitch_servo=6, yaw_servo=7):
'''configure a rpy servo mount; caller responsible for required rebooting'''
self.progress("Setting up servo mount")
self.set_parameter("MNT_TYPE", 1)
self.set_parameter("SERVO%u_FUNCTION" % roll_servo, 8) # roll
self.set_parameter("SERVO%u_FUNCTION" % pitch_servo, 7) # pitch
self.set_parameter("SERVO%u_FUNCTION" % yaw_servo, 6) # yaw
self.set_parameters({
"MNT_TYPE": 1,
"SERVO%u_FUNCTION" % roll_servo: 8, # roll
"SERVO%u_FUNCTION" % pitch_servo: 7, # pitch
"SERVO%u_FUNCTION" % yaw_servo: 6, # yaw
})
def test_mount(self):
ex = None
@ -4234,9 +4306,11 @@ class AutoTestCopter(AutoTest):
)
try:
self.context_push()
self.set_parameter('MNT_RC_IN_ROLL', 11)
self.set_parameter('MNT_RC_IN_TILT', 12)
self.set_parameter('MNT_RC_IN_PAN', 13)
self.set_parameters({
'MNT_RC_IN_ROLL': 11,
'MNT_RC_IN_TILT': 12,
'MNT_RC_IN_PAN': 13,
})
self.progress("Testing RC angular control")
# default RC min=1100 max=1900
self.set_rc_from_map({
@ -4271,10 +4345,12 @@ class AutoTestCopter(AutoTest):
"gimbal-limits-with-storm32-backend-mavlink-not-applied-correctly/51438"
)
self.context_push()
self.set_parameter("RC12_MIN", 1000)
self.set_parameter("RC12_MAX", 2000)
self.set_parameter("MNT_ANGMIN_TIL", -9000)
self.set_parameter("MNT_ANGMAX_TIL", 1000)
self.set_parameters({
"RC12_MIN": 1000,
"RC12_MAX": 2000,
"MNT_ANGMIN_TIL": -9000,
"MNT_ANGMAX_TIL": 1000,
})
self.set_rc(12, 1000)
self.test_mount_pitch(-90.00, 0.01)
self.set_rc(12, 2000)
@ -4687,16 +4763,17 @@ class AutoTestCopter(AutoTest):
self.progress("Flying with ESC telemetry driven dynamic notches")
self.set_rc_default()
self.set_parameter("AHRS_EKF_TYPE", 10)
self.set_parameter("INS_LOG_BAT_MASK", 3)
self.set_parameter("INS_LOG_BAT_OPT", 0)
# set the gyro filter high so we can observe behaviour
self.set_parameter("INS_GYRO_FILTER", 100)
self.set_parameter("LOG_BITMASK", 958)
self.set_parameter("LOG_DISARMED", 0)
self.set_parameter("SIM_VIB_MOT_MAX", 350)
self.set_parameter("SIM_GYR1_RND", 20)
self.set_parameter("SIM_ESC_TELEM", 1)
self.set_parameters({
"AHRS_EKF_TYPE": 10,
"INS_LOG_BAT_MASK": 3,
"INS_LOG_BAT_OPT": 0,
"INS_GYRO_FILTER": 100, # set gyro filter high so we can observe behaviour
"LOG_BITMASK": 958,
"LOG_DISARMED": 0,
"SIM_VIB_MOT_MAX": 350,
"SIM_GYR1_RND": 20,
"SIM_ESC_TELEM": 1,
})
self.reboot_sitl()
self.takeoff(10, mode="ALT_HOLD")
@ -4705,15 +4782,16 @@ class AutoTestCopter(AutoTest):
freq, vfr_hud, peakdb = self.hover_and_check_matched_frequency_with_fft(-15, 200, 300)
# now add a dynamic notch and check that the peak is squashed
self.set_parameter("INS_LOG_BAT_OPT", 2)
self.set_parameter("INS_HNTCH_ENABLE", 1)
self.set_parameter("INS_HNTCH_FREQ", 80)
self.set_parameter("INS_HNTCH_REF", 1.0)
# first and third harmonic
self.set_parameter("INS_HNTCH_HMNCS", 5)
self.set_parameter("INS_HNTCH_ATT", 50)
self.set_parameter("INS_HNTCH_BW", 40)
self.set_parameter("INS_HNTCH_MODE", 3)
self.set_parameters({
"INS_LOG_BAT_OPT": 2,
"INS_HNTCH_ENABLE": 1,
"INS_HNTCH_FREQ": 80,
"INS_HNTCH_REF": 1.0,
"INS_HNTCH_HMNCS": 5, # first and third harmonic
"INS_HNTCH_ATT": 50,
"INS_HNTCH_BW": 40,
"INS_HNTCH_MODE": 3,
})
self.reboot_sitl()
freq, vfr_hud, peakdb1 = self.hover_and_check_matched_frequency_with_fft(-10, 20, 350, reverse=True)
@ -5286,8 +5364,10 @@ class AutoTestCopter(AutoTest):
# ensure we can't switch to LOITER without position
self.progress("Ensure we can't enter LOITER without position")
self.context_push()
self.set_parameter("GPS_TYPE", 2)
self.set_parameter("SIM_GPS_DISABLE", 1)
self.set_parameters({
"GPS_TYPE": 2,
"SIM_GPS_DISABLE": 1,
})
# if there is no GPS at all then we must direct EK3 to not use
# it at all. Otherwise it will never initialise, as it wants
# to calculate the lag and size its delay buffers accordingly.
@ -5541,9 +5621,11 @@ class AutoTestCopter(AutoTest):
ex = None
try:
self.load_fence("copter-avoidance-fence.txt")
self.set_parameter("FENCE_ENABLE", 1)
self.set_parameter("PRX_TYPE", 10)
self.set_parameter("RC10_OPTION", 40) # proximity-enable
self.set_parameters({
"FENCE_ENABLE": 1,
"PRX_TYPE": 10,
"RC10_OPTION": 40, # proximity-enable
})
self.reboot_sitl()
self.progress("Enabling proximity")
self.set_rc(10, 2000)
@ -5563,8 +5645,10 @@ class AutoTestCopter(AutoTest):
self.context_push()
ex = None
try:
self.set_parameter("PRX_TYPE", 2)
self.set_parameter("AVOID_ALT_MIN", 10)
self.set_parameters({
"PRX_TYPE": 2,
"AVOID_ALT_MIN": 10,
})
self.set_analog_rangefinder_parameters()
self.reboot_sitl()
tstart = self.get_sim_time()
@ -5669,11 +5753,13 @@ class AutoTestCopter(AutoTest):
)
def fly_follow_mode(self):
self.set_parameter("FOLL_ENABLE", 1)
self.set_parameter("FOLL_SYSID", self.mav.source_system)
foll_ofs_x = 30 # metres
self.set_parameter("FOLL_OFS_X", -foll_ofs_x)
self.set_parameter("FOLL_OFS_TYPE", 1) # relative to other vehicle heading
self.set_parameters({
"FOLL_ENABLE": 1,
"FOLL_SYSID": self.mav.source_system,
"FOLL_OFS_X": -foll_ofs_x,
"FOLL_OFS_TYPE": 1, # relative to other vehicle heading
})
self.takeoff(10, mode="LOITER")
self.set_parameter("SIM_SPEEDUP", 1)
self.change_mode("FOLLOW")
@ -5738,20 +5824,22 @@ class AutoTestCopter(AutoTest):
self.context_push()
ex = None
try:
self.set_parameter("BCN_TYPE", 10)
self.set_parameter("BCN_LATITUDE", SITL_START_LOCATION.lat)
self.set_parameter("BCN_LONGITUDE", SITL_START_LOCATION.lng)
self.set_parameter("BCN_ALT", SITL_START_LOCATION.alt)
self.set_parameter("BCN_ORIENT_YAW", 0)
self.set_parameter("AVOID_ENABLE", 4)
self.set_parameter("GPS_TYPE", 0)
self.set_parameter("EK3_ENABLE", 1)
self.set_parameter("EK3_SRC1_POSXY", 4) # Beacon
self.set_parameter("EK3_SRC1_POSZ", 1) # Baro
self.set_parameter("EK3_SRC1_VELXY", 0) # None
self.set_parameter("EK3_SRC1_VELZ", 0) # None
self.set_parameter("EK2_ENABLE", 0)
self.set_parameter("AHRS_EKF_TYPE", 3)
self.set_parameters({
"BCN_TYPE": 10,
"BCN_LATITUDE": SITL_START_LOCATION.lat,
"BCN_LONGITUDE": SITL_START_LOCATION.lng,
"BCN_ALT": SITL_START_LOCATION.alt,
"BCN_ORIENT_YAW": 0,
"AVOID_ENABLE": 4,
"GPS_TYPE": 0,
"EK3_ENABLE": 1,
"EK3_SRC1_POSXY": 4, # Beacon
"EK3_SRC1_POSZ": 1, # Baro
"EK3_SRC1_VELXY": 0, # None
"EK3_SRC1_VELZ": 0, # None
"EK2_ENABLE": 0,
"AHRS_EKF_TYPE": 3,
})
self.reboot_sitl()
# turn off GPS arming checks. This may be considered a
@ -5817,11 +5905,13 @@ class AutoTestCopter(AutoTest):
self.context_push()
ex = None
try:
self.set_parameter("BCN_TYPE", 10)
self.set_parameter("BCN_LATITUDE", int(SITL_START_LOCATION.lat))
self.set_parameter("BCN_LONGITUDE", int(SITL_START_LOCATION.lng))
self.set_parameter("BCN_ORIENT_YAW", 45)
self.set_parameter("AVOID_ENABLE", 4)
self.set_parameters({
"BCN_TYPE": 10,
"BCN_LATITUDE": int(SITL_START_LOCATION.lat),
"BCN_LONGITUDE": int(SITL_START_LOCATION.lng),
"BCN_ORIENT_YAW": 45,
"AVOID_ENABLE": 4,
})
self.reboot_sitl()
self.takeoff(10, mode="LOITER")
@ -5863,25 +5953,29 @@ class AutoTestCopter(AutoTest):
)
wind_spd_truth = 8.0
wind_dir_truth = 90.0
self.set_parameter("EK3_ENABLE", 1)
self.set_parameter("EK2_ENABLE", 0)
self.set_parameter("AHRS_EKF_TYPE", 3)
self.set_parameter("BARO1_WCF_ENABLE", 1.000000)
self.set_parameters({
"EK3_ENABLE": 1,
"EK2_ENABLE": 0,
"AHRS_EKF_TYPE": 3,
"BARO1_WCF_ENABLE": 1.000000,
})
self.reboot_sitl()
self.set_parameter("EK3_DRAG_BCOEF_X", 361.000000)
self.set_parameter("EK3_DRAG_BCOEF_Y", 361.000000)
self.set_parameter("EK3_DRAG_MCOEF", 0.082000)
self.set_parameter("BARO1_WCF_FWD", -0.300000)
self.set_parameter("BARO1_WCF_BCK", -0.300000)
self.set_parameter("BARO1_WCF_RGT", 0.300000)
self.set_parameter("BARO1_WCF_LFT", 0.300000)
self.set_parameter("SIM_BARO_WCF_FWD", -0.300000)
self.set_parameter("SIM_BARO_WCF_BAK", -0.300000)
self.set_parameter("SIM_BARO_WCF_RGT", 0.300000)
self.set_parameter("SIM_BARO_WCF_LFT", 0.300000)
self.set_parameter("SIM_WIND_DIR", wind_dir_truth)
self.set_parameter("SIM_WIND_SPD", wind_spd_truth)
self.set_parameter("SIM_WIND_T", 1.000000)
self.set_parameters({
"EK3_DRAG_BCOEF_X": 361.000000,
"EK3_DRAG_BCOEF_Y": 361.000000,
"EK3_DRAG_MCOEF": 0.082000,
"BARO1_WCF_FWD": -0.300000,
"BARO1_WCF_BCK": -0.300000,
"BARO1_WCF_RGT": 0.300000,
"BARO1_WCF_LFT": 0.300000,
"SIM_BARO_WCF_FWD": -0.300000,
"SIM_BARO_WCF_BAK": -0.300000,
"SIM_BARO_WCF_RGT": 0.300000,
"SIM_BARO_WCF_LFT": 0.300000,
"SIM_WIND_DIR": wind_dir_truth,
"SIM_WIND_SPD": wind_spd_truth,
"SIM_WIND_T": 1.000000,
})
self.reboot_sitl()
# require_absolute=True infers a GPS is present
@ -5954,14 +6048,16 @@ class AutoTestCopter(AutoTest):
self.progress("Got generator speed and state")
def test_richenpower(self):
self.set_parameter("SERIAL5_PROTOCOL", 30)
self.set_parameter("SIM_RICH_ENABLE", 1)
self.set_parameter("SERVO8_FUNCTION", 42)
self.set_parameter("SIM_RICH_CTRL", 8)
self.set_parameter("RC9_OPTION", 85)
self.set_parameter("LOG_DISARMED", 1)
self.set_parameter("BATT2_MONITOR", 17)
self.set_parameter("GEN_TYPE", 3)
self.set_parameters({
"SERIAL5_PROTOCOL": 30,
"SIM_RICH_ENABLE": 1,
"SERVO8_FUNCTION": 42,
"SIM_RICH_CTRL": 8,
"RC9_OPTION": 85,
"LOG_DISARMED": 1,
"BATT2_MONITOR": 17,
"GEN_TYPE": 3,
})
self.reboot_sitl()
self.set_rc(9, 1000) # remember this is a switch position - stop
self.customise_SITL_commandline(["--uartF=sim:richenpower"])
@ -6026,12 +6122,14 @@ class AutoTestCopter(AutoTest):
self.context_push()
ex = None
try:
self.set_parameter("SERIAL5_PROTOCOL", 30)
self.set_parameter("SERIAL5_BAUD", 115200)
self.set_parameter("GEN_TYPE", 2)
self.set_parameter("BATT2_MONITOR", 17)
self.set_parameter("SIM_IE24_ENABLE", 1)
self.set_parameter("LOG_DISARMED", 1)
self.set_parameters({
"SERIAL5_PROTOCOL": 30,
"SERIAL5_BAUD": 115200,
"GEN_TYPE": 2,
"BATT2_MONITOR": 17,
"SIM_IE24_ENABLE": 1,
"LOG_DISARMED": 1,
})
self.customise_SITL_commandline(["--uartF=sim:ie24"])
self.wait_ready_to_arm()
@ -6296,9 +6394,11 @@ class AutoTestCopter(AutoTest):
255 # covariance
)
self.arm_vehicle()
self.set_parameter("SERVO10_FUNCTION", 29)
self.set_parameter("LGR_DEPLOY_ALT", 1)
self.set_parameter("LGR_RETRACT_ALT", 10) # metres
self.set_parameters({
"SERVO10_FUNCTION": 29,
"LGR_DEPLOY_ALT": 1,
"LGR_RETRACT_ALT": 10, # metres
})
self.delay_sim_time(1) # servo function maps only periodically updated
# self.send_debug_trap()
@ -6404,8 +6504,10 @@ class AutoTestCopter(AutoTest):
self.fly_rangefinder_mavlink_distance_sensor()
# explicit test for the mavlink driver as it doesn't play so nice:
self.set_parameter("SERIAL5_PROTOCOL", 1)
self.set_parameter("RNGFND1_TYPE", 10)
self.set_parameters({
"SERIAL5_PROTOCOL": 1,
"RNGFND1_TYPE": 10,
})
self.customise_SITL_commandline(['--uartF=sim:rf_mavlink'])
self.change_mode('GUIDED')
@ -6466,8 +6568,10 @@ class AutoTestCopter(AutoTest):
raise NotAchievedException("Didn't receive DISTANCE_SENSOR when I should've")
self.start_subtest("Explicitly set to default address")
self.set_parameter("RNGFND1_TYPE", 2) # maxbotix
self.set_parameter("RNGFND1_ADDR", 0x70)
self.set_parameters({
"RNGFND1_TYPE": 2, # maxbotix
"RNGFND1_ADDR": 0x70,
})
self.reboot_sitl()
self.do_timesync_roundtrip()
rf = self.mav.recv_match(type="DISTANCE_SENSOR", timeout=5, blocking=True)
@ -6485,12 +6589,14 @@ class AutoTestCopter(AutoTest):
raise NotAchievedException("Didn't receive DISTANCE_SENSOR when I should've")
self.start_subtest("Two MaxBotix RangeFinders")
self.set_parameter("RNGFND1_TYPE", 2) # maxbotix
self.set_parameter("RNGFND1_ADDR", 0x70)
self.set_parameter("RNGFND1_MIN_CM", 150)
self.set_parameter("RNGFND2_TYPE", 2) # maxbotix
self.set_parameter("RNGFND2_ADDR", 0x71)
self.set_parameter("RNGFND2_MIN_CM", 250)
self.set_parameters({
"RNGFND1_TYPE": 2, # maxbotix
"RNGFND1_ADDR": 0x70,
"RNGFND1_MIN_CM": 150,
"RNGFND2_TYPE": 2, # maxbotix
"RNGFND2_ADDR": 0x71,
"RNGFND2_MIN_CM": 250,
})
self.reboot_sitl()
self.do_timesync_roundtrip()
for i in [0, 1]:
@ -6520,8 +6626,10 @@ class AutoTestCopter(AutoTest):
raise ex
def fly_rangefinder_drivers(self):
self.set_parameter("RTL_ALT", 500)
self.set_parameter("RTL_ALT_TYPE", 1)
self.set_parameters({
"RTL_ALT": 500,
"RTL_ALT_TYPE": 1,
})
drivers = [
("lightwareserial", 8), # autodetected between this and -binary
("lightwareserial-binary", 8),
@ -6551,8 +6659,10 @@ class AutoTestCopter(AutoTest):
command_line_args.append("%s=sim:%s" %
(cmdline_argument, sim_name))
serial_param_name = "SERIAL%u_PROTOCOL" % serial_num
self.set_parameter(serial_param_name, 9) # rangefinder
self.set_parameter("RNGFND%u_TYPE" % (offs+1), rngfnd_param_value)
self.set_parameters({
serial_param_name: 9, # rangefinder
"RNGFND%u_TYPE" % (offs+1): rngfnd_param_value,
})
self.customise_SITL_commandline(command_line_args)
self.fly_rangefinder_drivers_fly([x[0] for x in do_drivers])
self.context_pop()
@ -6566,11 +6676,14 @@ class AutoTestCopter(AutoTest):
do_drivers = i2c_drivers[0:9]
i2c_drivers = i2c_drivers[9:]
count = 1
p = {}
for d in do_drivers:
(sim_name, rngfnd_param_value) = d
self.set_parameter("RNGFND%u_TYPE" % count, rngfnd_param_value)
p["RNGFND%u_TYPE" % count] = rngfnd_param_value
count += 1
self.set_parameters(p)
self.reboot_sitl()
self.fly_rangefinder_drivers_fly([x[0] for x in do_drivers])
@ -6608,9 +6721,11 @@ class AutoTestCopter(AutoTest):
def fly_ship_takeoff(self):
# test ship takeoff
self.wait_groundspeed(0, 2)
self.set_parameter("SIM_SHIP_ENABLE", 1)
self.set_parameter("SIM_SHIP_SPEED", 10)
self.set_parameter("SIM_SHIP_DSIZE", 2)
self.set_parameters({
"SIM_SHIP_ENABLE": 1,
"SIM_SHIP_SPEED": 10,
"SIM_SHIP_DSIZE": 2,
})
self.wait_ready_to_arm()
# we should be moving with the ship
self.wait_groundspeed(9, 11)
@ -6625,13 +6740,17 @@ class AutoTestCopter(AutoTest):
# wait 10 seconds for initialisation
self.delay_sim_time(10)
self.progress("invalid; min must be less than max:")
self.set_parameter("MOT_PWM_MIN", 100)
self.set_parameter("MOT_PWM_MAX", 50)
self.set_parameters({
"MOT_PWM_MIN": 100,
"MOT_PWM_MAX": 50,
})
self.drain_mav()
self.assert_prearm_failure("Check MOT_PWM_MIN/MAX")
self.progress("invalid; min must be less than max (equal case):")
self.set_parameter("MOT_PWM_MIN", 100)
self.set_parameter("MOT_PWM_MAX", 100)
self.set_parameters({
"MOT_PWM_MIN": 100,
"MOT_PWM_MAX": 100,
})
self.drain_mav()
self.assert_prearm_failure("Check MOT_PWM_MIN/MAX")
@ -6640,8 +6759,10 @@ class AutoTestCopter(AutoTest):
ex = None
try:
# disable barometer so there is no altitude source
self.set_parameter("SIM_BARO_DISABLE", 1)
self.set_parameter("SIM_BARO2_DISABL", 1)
self.set_parameters({
"SIM_BARO_DISABLE": 1,
"SIM_BARO2_DISABL": 1,
})
self.wait_gps_disable(position_vertical=True)
# turn off arming checks (mandatory arming checks will still be run)
@ -6678,8 +6799,10 @@ class AutoTestCopter(AutoTest):
self.context_push()
ex = None
try:
self.set_parameter("EK3_ENABLE", 1)
self.set_parameter("AHRS_EKF_TYPE", 3)
self.set_parameters({
"EK3_ENABLE": 1,
"AHRS_EKF_TYPE": 3,
})
self.wait_ready_to_arm()
self.start_subtest("bad yaw source")
@ -6688,10 +6811,12 @@ class AutoTestCopter(AutoTest):
self.context_push()
self.start_subtest("missing required yaw source")
self.set_parameter("EK3_SRC3_YAW", 3) # External Yaw with Compass Fallback
self.set_parameter("COMPASS_USE", 0)
self.set_parameter("COMPASS_USE2", 0)
self.set_parameter("COMPASS_USE3", 0)
self.set_parameters({
"EK3_SRC3_YAW": 3, # External Yaw with Compass Fallback
"COMPASS_USE": 0,
"COMPASS_USE2": 0,
"COMPASS_USE3": 0,
})
self.assert_prearm_failure("EK3 sources require Compass")
self.context_pop()
@ -6749,8 +6874,10 @@ class AutoTestCopter(AutoTest):
return current_log_filepath
def test_replay_beacon_bit(self):
self.set_parameter("LOG_REPLAY", 1)
self.set_parameter("LOG_DISARMED", 1)
self.set_parameters({
"LOG_REPLAY": 1,
"LOG_DISARMED": 1,
})
old_onboard_logs = sorted(self.log_list())
self.fly_beacon_position()
@ -6760,8 +6887,10 @@ class AutoTestCopter(AutoTest):
return log_difference[2]
def test_replay_optical_flow_bit(self):
self.set_parameter("LOG_REPLAY", 1)
self.set_parameter("LOG_DISARMED", 1)
self.set_parameters({
"LOG_REPLAY": 1,
"LOG_DISARMED": 1,
})
old_onboard_logs = sorted(self.log_list())
self.fly_optical_flow_limits()
@ -6780,10 +6909,12 @@ class AutoTestCopter(AutoTest):
try:
# configure:
self.set_parameter("GPS_TYPE2", 1)
self.set_parameter("SIM_GPS2_TYPE", 1)
self.set_parameter("SIM_GPS2_DISABLE", 0)
self.set_parameter("GPS_AUTO_SWITCH", 2)
self.set_parameters({
"GPS_TYPE2": 1,
"SIM_GPS2_TYPE": 1,
"SIM_GPS2_DISABLE": 0,
"GPS_AUTO_SWITCH": 2,
})
self.reboot_sitl()
# ensure we're seeing the second GPS:

221
Tools/autotest/arduplane.py
View File

@ -645,8 +645,10 @@ class AutoTestPlane(AutoTest):
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.set_parameters({
"TRIM_ARSPD_CM": self.get_parameter("TRIM_ARSPD_CM"),
"MIN_GNDSPD_CM": self.get_parameter("MIN_GNDSPD_CM"),
})
self.progress("Takeoff")
self.takeoff(alt=100)
@ -709,8 +711,10 @@ class AutoTestPlane(AutoTest):
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.set_parameters({
"SIM_WIND_SPD": 5,
"SIM_WIND_DIR": 270,
})
self.delay_sim_time(5)
timeout = 10
tstart = self.get_sim_time()
@ -748,29 +752,35 @@ class AutoTestPlane(AutoTest):
self.context_push()
ex = None
try:
flaps_ch = 5
servo_ch = 5
self.set_parameter("SERVO%u_FUNCTION" % servo_ch, 3) # flapsauto
self.set_parameter("RC%u_OPTION" % flaps_ch, 208) # Flaps RCx_OPTION
self.set_parameter("LAND_FLAP_PERCNT", 50)
self.set_parameter("LOG_DISARMED", 1)
flaps_ch_min = 1000
flaps_ch_trim = 1500
flaps_ch_max = 2000
self.set_parameter("RC%u_MIN" % flaps_ch, flaps_ch_min)
self.set_parameter("RC%u_MAX" % flaps_ch, flaps_ch_max)
self.set_parameter("RC%u_TRIM" % flaps_ch, flaps_ch_trim)
servo_ch = 5
servo_ch_min = 1200
servo_ch_trim = 1300
servo_ch_max = 1800
self.set_parameter("SERVO%u_MIN" % servo_ch, servo_ch_min)
self.set_parameter("SERVO%u_MAX" % servo_ch, servo_ch_max)
self.set_parameter("SERVO%u_TRIM" % servo_ch, servo_ch_trim)
self.set_parameters({
"SERVO%u_FUNCTION" % servo_ch: 3, # flapsauto
"RC%u_OPTION" % flaps_ch: 208, # Flaps RCx_OPTION
"LAND_FLAP_PERCNT": 50,
"LOG_DISARMED": 1,
"RC%u_MIN" % flaps_ch: flaps_ch_min,
"RC%u_MAX" % flaps_ch: flaps_ch_max,
"RC%u_TRIM" % flaps_ch: flaps_ch_trim,
"SERVO%u_MIN" % servo_ch: servo_ch_min,
"SERVO%u_MAX" % servo_ch: servo_ch_max,
"SERVO%u_TRIM" % servo_ch: servo_ch_trim,
})
self.progress("check flaps are not deployed")
self.set_rc(flaps_ch, flaps_ch_min)
self.wait_servo_channel_value(servo_ch, servo_ch_min)
self.wait_servo_channel_value(servo_ch, servo_ch_min, timeout=3)
self.progress("deploy the flaps")
self.set_rc(flaps_ch, flaps_ch_max)
tstart = self.get_sim_time()
@ -988,8 +998,10 @@ class AutoTestPlane(AutoTest):
self.context_collect("STATUSTEXT")
ex = None
try:
self.set_parameter("FS_SHORT_ACTN", 3) # 3 means disabled
self.set_parameter("SIM_RC_FAIL", 1)
self.set_parameters({
"FS_SHORT_ACTN": 3, # 3 means disabled
"SIM_RC_FAIL": 1,
})
self.wait_statustext("Long event on", check_context=True)
self.wait_mode("RTL")
# self.context_clear_collection("STATUSTEXT")
@ -998,8 +1010,10 @@ class AutoTestPlane(AutoTest):
self.change_mode("MANUAL")
self.progress("Trying again with THR_FS_VALUE")
self.set_parameter("THR_FS_VALUE", 960)
self.set_parameter("SIM_RC_FAIL", 2)
self.set_parameters({
"THR_FS_VALUE": 960,
"SIM_RC_FAIL": 2,
})
self.wait_statustext("Long event on", check_context=True)
self.wait_mode("RTL")
except Exception as e:
@ -1271,9 +1285,11 @@ class AutoTestPlane(AutoTest):
# when ArduPlane is fixed, remove this fudge factor
REALLY_BAD_FUDGE_FACTOR = 1.16
expected_radius = REALLY_BAD_FUDGE_FACTOR * want_radius
self.set_parameter("RTL_RADIUS", want_radius)
self.set_parameter("NAVL1_LIM_BANK", 60)
self.set_parameter("FENCE_ACTION", 1) # AC_FENCE_ACTION_RTL_AND_LAND == 1. mavutil.mavlink.FENCE_ACTION_RTL == 4
self.set_parameters({
"RTL_RADIUS": want_radius,
"NAVL1_LIM_BANK": 60,
"FENCE_ACTION": 1, # AC_FENCE_ACTION_RTL_AND_LAND == 1. mavutil.mavlink.FENCE_ACTION_RTL == 4
})
self.wait_ready_to_arm() # need an origin to load fence
@ -1409,24 +1425,30 @@ class AutoTestPlane(AutoTest):
return_radius = 100
return_alt = 80
self.set_parameter("RTL_RADIUS", return_radius)
self.set_parameter("FENCE_ACTION", 6) # Set Fence Action to Guided
self.set_parameter("FENCE_TYPE", 8) # Only use fence floor
self.set_parameter("FENCE_RET_ALT", return_alt)
self.set_parameters({
"RTL_RADIUS": return_radius,
"FENCE_ACTION": 6, # Set Fence Action to Guided
"FENCE_TYPE": 8, # Only use fence floor
"FENCE_RET_ALT": return_alt,
})
self.do_fence_enable()
self.assert_fence_enabled()
self.takeoff(alt=50, alt_max=300)
# Trigger fence breach, fly to rally location
self.set_parameter("FENCE_RET_RALLY", 1)
self.set_parameter("FENCE_ALT_MIN", 60)
self.set_parameters({
"FENCE_RET_RALLY": 1,
"FENCE_ALT_MIN": 60,
})
self.wait_circling_point_with_radius(rally_loc, return_radius)
self.set_parameter("FENCE_ALT_MIN", 0) # Clear fence breach
# Fly up before re-triggering fence breach. Fly to fence return point
self.change_altitude(self.homeloc.alt+30)
self.set_parameter("FENCE_RET_RALLY", 0)
self.set_parameter("FENCE_ALT_MIN", 60)
self.set_parameters({
"FENCE_RET_RALLY": 0,
"FENCE_ALT_MIN": 60,
})
self.wait_altitude(altitude_min=return_alt-3,
altitude_max=return_alt+3,
relative=True)
@ -1436,11 +1458,13 @@ class AutoTestPlane(AutoTest):
def test_parachute(self):
self.set_rc(9, 1000)
self.set_parameter("CHUTE_ENABLED", 1)
self.set_parameter("CHUTE_TYPE", 10)
self.set_parameter("SERVO9_FUNCTION", 27)
self.set_parameter("SIM_PARA_ENABLE", 1)
self.set_parameter("SIM_PARA_PIN", 9)
self.set_parameters({
"CHUTE_ENABLED": 1,
"CHUTE_TYPE": 10,
"SERVO9_FUNCTION": 27,
"SIM_PARA_ENABLE": 1,
"SIM_PARA_PIN": 9,
})
self.load_mission("plane-parachute-mission.txt")
self.set_current_waypoint(1)
@ -1453,13 +1477,14 @@ class AutoTestPlane(AutoTest):
def test_parachute_sinkrate(self):
self.set_rc(9, 1000)
self.set_parameter("CHUTE_ENABLED", 1)
self.set_parameter("CHUTE_TYPE", 10)
self.set_parameter("SERVO9_FUNCTION", 27)
self.set_parameter("SIM_PARA_ENABLE", 1)
self.set_parameter("SIM_PARA_PIN", 9)
self.set_parameter("CHUTE_CRT_SINK", 9)
self.set_parameters({
"CHUTE_ENABLED": 1,
"CHUTE_TYPE": 10,
"SERVO9_FUNCTION": 27,
"SIM_PARA_ENABLE": 1,
"SIM_PARA_PIN": 9,
"CHUTE_CRT_SINK": 9,
})
self.progress("Takeoff")
self.takeoff(alt=300)
@ -1698,8 +1723,10 @@ class AutoTestPlane(AutoTest):
def climb_before_turn(self):
self.wait_ready_to_arm()
self.set_parameter("FLIGHT_OPTIONS", 0)
self.set_parameter("ALT_HOLD_RTL", 8000)
self.set_parameters({
"FLIGHT_OPTIONS": 0,
"ALT_HOLD_RTL": 8000,
})
takeoff_alt = 10
self.takeoff(alt=takeoff_alt)
self.change_mode("CRUISE")
@ -1725,8 +1752,10 @@ class AutoTestPlane(AutoTest):
self.set_rc(3, 1000)
self.wait_ready_to_arm()
self.set_parameter("FLIGHT_OPTIONS", 16)
self.set_parameter("ALT_HOLD_RTL", 10000)
self.set_parameters({
"FLIGHT_OPTIONS": 16,
"ALT_HOLD_RTL": 10000,
})
self.takeoff(alt=takeoff_alt)
self.change_mode("CRUISE")
self.wait_distance_to_home(500, 1000, timeout=60)
@ -1866,8 +1895,10 @@ class AutoTestPlane(AutoTest):
self.wait_mode("CIRCLE")
self.set_rc(9, 1000)
self.set_rc(10, 1000)
self.set_parameter("RC9_OPTION", 4) # RTL
self.set_parameter("RC10_OPTION", 55) # guided
self.set_parameters({
"RC9_OPTION": 4, # RTL
"RC10_OPTION": 55, # guided
})
self.set_rc(9, 1900)
self.wait_mode("RTL")
self.set_rc(10, 1900)
@ -1938,9 +1969,11 @@ function'''
# message ADSB_VEHICLE 37 -353632614 1491652305 0 584070 0 0 0 "bob" 3 1 255 17
self.set_parameter("RC12_OPTION", 38) # avoid-adsb
self.set_rc(12, 2000)
self.set_parameter("ADSB_TYPE", 1)
self.set_parameter("AVD_ENABLE", 1)
self.set_parameter("AVD_F_ACTION", mavutil.mavlink.MAV_COLLISION_ACTION_RTL)
self.set_parameters({
"ADSB_TYPE": 1,
"AVD_ENABLE": 1,
"AVD_F_ACTION": mavutil.mavlink.MAV_COLLISION_ACTION_RTL,
})
self.reboot_sitl()
self.wait_ready_to_arm()
here = self.mav.location()
@ -2280,8 +2313,10 @@ function'''
def test_loiter_terrain(self):
default_rad = self.get_parameter("WP_LOITER_RAD")
self.set_parameter("TERRAIN_FOLLOW", 1) # enable terrain following in loiter
self.set_parameter("WP_LOITER_RAD", 2000) # set very large loiter rad to get some terrain changes
self.set_parameters({
"TERRAIN_FOLLOW": 1, # enable terrain following in loiter
"WP_LOITER_RAD": 2000, # set very large loiter rad to get some terrain changes
})
alt = 200
self.takeoff(alt*0.9, alt*1.1)
self.set_rc(3, 1500)
@ -2304,20 +2339,24 @@ function'''
if rel_alt > alt*1.2 or rel_alt < alt * 0.8:
raise NotAchievedException("Not terrain following")
self.progress("Returning home")
self.set_parameter("TERRAIN_FOLLOW", 0)
self.set_parameter("WP_LOITER_RAD", default_rad)
self.set_parameters({
"TERRAIN_FOLLOW": 0,
"WP_LOITER_RAD": default_rad,
})
self.fly_home_land_and_disarm(240)
def fly_external_AHRS(self, sim, eahrs_type, mission):
"""Fly with external AHRS (VectorNav)"""
self.customise_SITL_commandline(["--uartE=sim:%s" % sim])
self.set_parameter("EAHRS_TYPE", eahrs_type)
self.set_parameter("SERIAL4_PROTOCOL", 36)
self.set_parameter("SERIAL4_BAUD", 230400)
self.set_parameter("GPS_TYPE", 21)
self.set_parameter("AHRS_EKF_TYPE", 11)
self.set_parameter("INS_GYR_CAL", 1)
self.set_parameters({
"EAHRS_TYPE": eahrs_type,
"SERIAL4_PROTOCOL": 36,
"SERIAL4_BAUD": 230400,
"GPS_TYPE": 21,
"AHRS_EKF_TYPE": 11,
"INS_GYR_CAL": 1,
})
self.reboot_sitl()
self.progress("Running accelcal")
self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
@ -2451,8 +2490,10 @@ function'''
corrected[temperature] = (accel2, gyro)
self.progress("Testing with compensation disabled")
self.set_parameter("INS_TCAL1_ENABLE", 0)
self.set_parameter("INS_TCAL2_ENABLE", 0)
self.set_parameters({
"INS_TCAL1_ENABLE": 0,
"INS_TCAL2_ENABLE": 0,
})
gyro_threshold = 0.2
accel_threshold = 0.2
@ -2707,10 +2748,12 @@ function'''
def test_fence_alt_ceil_floor(self):
fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
self.set_parameter("FENCE_TYPE", 9) # Set fence type to max and min alt
self.set_parameter("FENCE_ACTION", 0) # Set action to report
self.set_parameter("FENCE_ALT_MAX", 200)
self.set_parameter("FENCE_ALT_MIN", 100)
self.set_parameters({
"FENCE_TYPE": 9, # Set fence type to max and min alt
"FENCE_ACTION": 0, # Set action to report
"FENCE_ALT_MAX": 200,
"FENCE_ALT_MIN": 100,
})
# Grab Home Position
self.mav.recv_match(type='HOME_POSITION', blocking=True)
@ -2751,8 +2794,10 @@ function'''
def test_fence_breached_change_mode(self):
""" Attempts to change mode while a fence is breached.
This should revert to the mode specified by the fence action. """
self.set_parameter("FENCE_ACTION", 1)
self.set_parameter("FENCE_TYPE", 4)
self.set_parameters({
"FENCE_ACTION": 1,
"FENCE_TYPE": 4,
})
home_loc = self.mav.location()
locs = [
mavutil.location(home_loc.lat - 0.001, home_loc.lng - 0.001, 0, 0),
@ -2789,10 +2834,12 @@ function'''
""" Attempts to change mode while a fence is breached.
This should revert to the mode specified by the fence action. """
want_radius = 100 # Fence Return Radius
self.set_parameter("FENCE_ACTION", 6)
self.set_parameter("FENCE_TYPE", 4)
self.set_parameter("RTL_RADIUS", want_radius)
self.set_parameter("NAVL1_LIM_BANK", 60)
self.set_parameters({
"FENCE_ACTION": 6,
"FENCE_TYPE": 4,
"RTL_RADIUS": want_radius,
"NAVL1_LIM_BANK": 60,
})
home_loc = self.mav.location()
locs = [
mavutil.location(home_loc.lat - 0.003, home_loc.lng - 0.001, 0, 0),
@ -2863,11 +2910,13 @@ function'''
no inclusion fence is present and exclusion fence is present """
want_radius = 100 # Fence Return Radius
self.set_parameter("FENCE_ACTION", 6)
self.set_parameter("FENCE_TYPE", 2)
self.set_parameter("FENCE_RADIUS", 300)
self.set_parameter("RTL_RADIUS", want_radius)
self.set_parameter("NAVL1_LIM_BANK", 60)
self.set_parameters({
"FENCE_ACTION": 6,
"FENCE_TYPE": 2,
"FENCE_RADIUS": 300,
"RTL_RADIUS": want_radius,
"NAVL1_LIM_BANK": 60,
})
self.clear_fence()
@ -2907,8 +2956,10 @@ function'''
def test_fence_disable_under_breach_action(self):
""" Fence breach will cause the vehicle to enter guided mode.
Upon breach clear, check the vehicle is in the expected mode"""
self.set_parameter("FENCE_ALT_MIN", 50) # Sets the fence floor
self.set_parameter("FENCE_TYPE", 8) # Only use fence floor for breaches
self.set_parameters({
"FENCE_ALT_MIN": 50, # Sets the fence floor
"FENCE_TYPE": 8, # Only use fence floor for breaches
})
self.wait_ready_to_arm()
def attempt_fence_breached_disable(start_mode, end_mode, expected_mode, action):
@ -3168,9 +3219,11 @@ function'''
self.takeoff(50)
self.change_mode('CIRCLE')
self.context_collect('STATUSTEXT')
self.set_parameter("EK3_POS_I_GATE", 0)
self.set_parameter("SIM_GPS_HZ", 1)
self.set_parameter("GPS_DELAY_MS", 300)
self.set_parameters({
"EK3_POS_I_GATE": 0,
"SIM_GPS_HZ": 1,
"GPS_DELAY_MS": 300,
})
self.wait_statustext("DCM Active", check_context=True, timeout=60)
self.wait_statustext("EKF3 Active", check_context=True)
self.wait_statustext("DCM Active", check_context=True)