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autotest: make default rate depend on model type

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This commit is contained in:
Andrew Tridgell 2015-04-18 09:25:31 +10:00
parent 633e7122e7
commit b6ff19e86c
1 changed files with 16 additions and 7 deletions
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23
Tools/autotest/pysim/sim_wrapper.py
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@ -1,7 +1,5 @@
#!/usr/bin/env python
from multicopter import MultiCopter
from helicopter import HeliCopter
import util, time, os, sys, math
import socket, struct
import select, errno
@ -55,7 +53,6 @@ def sim_send(m, a):
if not e.errno in [ errno.ECONNREFUSED ]:
raise
def sim_recv(m):
'''receive control information from SITL'''
try:
@ -97,7 +94,7 @@ parser.add_option("--fgout", dest="fgout", help="flightgear output (IP:port)",
parser.add_option("--simin", dest="simin", help="SIM input (IP:port)", default="127.0.0.1:5502")
parser.add_option("--simout", dest="simout", help="SIM output (IP:port)", default="127.0.0.1:5501")
parser.add_option("--home", dest="home", type='string', default=None, help="home lat,lng,alt,hdg (required)")
parser.add_option("--rate", dest="rate", type='int', help="SIM update rate", default=400)
parser.add_option("--rate", dest="rate", type='int', help="SIM update rate", default=0)
parser.add_option("--wind", dest="wind", help="Simulate wind (speed,direction,turbulance)", default='0,0,0')
parser.add_option("--frame", dest="frame", help="frame type (+,X,octo)", default='+')
parser.add_option("--gimbal", dest="gimbal", action='store_true', default=False, help="enable gimbal")
@ -134,14 +131,26 @@ sim_out.setblocking(0)
# FG FDM object
fdm = fgFDM.fgFDM()
# create the quadcopter model
# create the model based on frame type
if opts.frame == 'heli':
from helicopter import HeliCopter
a = HeliCopter(frame=opts.frame)
frame_rate = 400
elif opts.frame == 'IrisRos':
from iris_ros import IrisRos
a = IrisRos()
frame_rate = 1000
elif opts.frame.startswith('CRRCSim'):
from crrcsim import CRRCSim
a = CRRCSim(frame=opts.frame)
frame_rate = 360
else:
from multicopter import MultiCopter
a = MultiCopter(frame=opts.frame)
frame_rate = 400
if opts.rate != 0:
frame_rate = opts.rate
print("Simulating for frame %s" % opts.frame)
@ -178,7 +187,7 @@ if opts.gimbal:
else:
gimbal = None
a.setup_frame_time(opts.rate, opts.speedup)
a.setup_frame_time(frame_rate, opts.speedup)
counter = 0
while True:
@ -200,6 +209,6 @@ while True:
a.time_advance(a.frame_time)
counter += 1
if counter == 1000:
if counter == 10000:
print("t=%f speedup=%.1f" % ((a.time_now - a.time_base), a.achieved_rate/a.rate))
counter = 0