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Tools: autotest: add tests for mode changes for Copter and Rover

This commit is contained in:
Peter Barker 2018-04-14 21:31:22 +10:00 committed by Randy Mackay
parent 1f0908bba2
commit b8030816b8
5 changed files with 189 additions and 13 deletions
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88
Tools/autotest/apmrover2.py
View File

@ -328,7 +328,7 @@ class AutoTestRover(AutoTest):
self.set_rc(3, 1500)
self.wait_mode('AUTO')
self.wait_waypoint(1, 4, max_dist=5)
self.wait_mode('HOLD')
self.wait_mode('HOLD', timeout=300)
self.progress("Mission OK")
def drive_mission_rover1(self):
@ -465,6 +465,83 @@ class AutoTestRover(AutoTest):
raise NotAchievedException()
self.progress("Pin mask changed after relay command")
def test_setting_modes_via_mavproxy_switch(self):
fnoo = [(1, 'MANUAL'),
(2, 'MANUAL'),
(3, 'RTL'),
# (4, 'AUTO'), // no mission, can't set auto
(5, 'RTL'), # non-existant mode, should stay in RTL
(6, 'MANUAL')]
for (num, expected) in fnoo:
self.mavproxy.send('switch %u\n' % num)
self.wait_mode(expected)
def test_setting_modes_via_modeswitch(self):
# test setting of modes through mode switch
self.context_push();
ex = None
try:
self.set_parameter("MODE_CH", 8)
self.set_rc(8, 1000)
# mavutil.mavlink.ROVER_MODE_HOLD:
self.set_parameter("MODE6", 4)
# mavutil.mavlink.ROVER_MODE_ACRO
self.set_parameter("MODE5", 1)
self.set_rc(8, 1800) # PWM for mode6
self.wait_mode("HOLD")
self.set_rc(8, 1700) # PWM for mode5
self.wait_mode("ACRO")
self.set_rc(8, 1800) # PWM for mode6
self.wait_mode("HOLD")
self.set_rc(8, 1700) # PWM for mode5
self.wait_mode("ACRO")
except Exception as e:
self.progress("Exception caught")
ex = e
self.context_pop();
if ex is not None:
raise ex
def test_setting_modes_via_auxswitches(self):
self.context_push();
ex = None
try:
self.set_parameter("MODE5", 1)
self.mavproxy.send('switch 5\n') # acro mode
self.wait_mode("ACRO")
self.set_rc(9, 1000)
self.set_rc(10, 1000)
self.set_parameter("RC9_OPTION", 53) # steering
self.set_parameter("RC10_OPTION", 54) # hold
self.set_rc(9, 1900)
self.wait_mode("STEERING")
self.set_rc(10, 1900)
self.wait_mode("HOLD")
# reset both switches - should go back to ACRO
self.set_rc(9, 1000)
self.set_rc(10, 1000)
self.wait_mode("ACRO")
self.set_rc(9, 1900)
self.wait_mode("STEERING")
self.set_rc(10, 1900)
self.wait_mode("HOLD")
self.set_rc(10, 1000) # this re-polls the mode switch
self.wait_mode("ACRO")
self.set_rc(9, 1000)
except Exception as e:
self.progress("Exception caught")
ex = e
self.context_pop();
if ex is not None:
raise ex
def autotest(self):
"""Autotest APMrover2 in SITL."""
if not self.hasInit:
@ -489,6 +566,15 @@ class AutoTestRover(AutoTest):
self.wait_ready_to_arm()
self.arm_vehicle()
self.run_test("Set modes via mavproxy switch",
self.test_setting_modes_via_mavproxy_switch)
self.run_test("Set modes via modeswitch",
self.test_setting_modes_via_modeswitch)
self.run_test("Set modes via auxswitches",
self.test_setting_modes_via_auxswitches)
self.run_test("Drive an RTL Mission", self.drive_rtl_mission)
self.run_test("Learn/Drive Square with Ch7 option",

84
Tools/autotest/arducopter.py
View File

@ -633,7 +633,7 @@ class AutoTestCopter(AutoTest):
self.set_rc(3, 1800)
# wait for fence to trigger
self.wait_mode('RTL')
self.wait_mode('RTL', timeout=120)
self.progress("Waiting for disarm")
self.mav.motors_disarmed_wait()
@ -1297,6 +1297,79 @@ class AutoTestCopter(AutoTest):
if ex is not None:
raise ex
def test_setting_modes_via_modeswitch(self):
self.context_push();
ex = None
try:
fltmode_ch = 5
self.set_parameter("FLTMODE_CH", fltmode_ch)
self.set_rc(fltmode_ch, 1000) # PWM for mode1
testmodes = [("FLTMODE1", 4, "GUIDED", 1165),
("FLTMODE2", 13, "SPORT", 1295),
("FLTMODE3", 6, "RTL", 1425),
("FLTMODE4", 7, "CIRCLE", 1555),
("FLTMODE5", 1, "ACRO", 1685),
("FLTMODE6", 17, "BRAKE", 1815),
]
for mode in testmodes:
(parm, parm_value, name, pwm) = mode
self.set_parameter(parm, parm_value)
for mode in reversed(testmodes):
(parm, parm_value, name, pwm) = mode
self.set_rc(fltmode_ch, pwm)
self.wait_mode(name)
for mode in testmodes:
(parm, parm_value, name, pwm) = mode
self.set_rc(fltmode_ch, pwm)
self.wait_mode(name)
for mode in reversed(testmodes):
(parm, parm_value, name, pwm) = mode
self.set_rc(fltmode_ch, pwm)
self.wait_mode(name)
self.mavproxy.send('switch 6\n')
self.wait_mode("BRAKE")
self.mavproxy.send('switch 5\n')
self.wait_mode("ACRO")
except Exception as e:
self.progress("Exception caught")
ex = e
self.context_pop()
if ex is not None:
raise ex
def test_setting_modes_via_auxswitch(self):
self.context_push();
ex = None
try:
fltmode_ch = int(self.get_parameter("FLTMODE_CH"))
self.set_rc(fltmode_ch, 1000)
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_rc(9, 1900)
self.wait_mode("LAND")
self.set_rc(10, 1900)
self.wait_mode("GUIDED")
self.set_rc(10, 1000) # this re-polls the mode switch
self.wait_mode("CIRCLE")
except Exception as e:
self.progress("Exception caught")
ex = e
self.context_pop();
if ex is not None:
raise ex
def guided_achieve_heading(self, heading):
tstart = self.get_sim_time()
self.run_cmd(mavutil.mavlink.MAV_CMD_CONDITION_YAW,
@ -1415,6 +1488,15 @@ class AutoTestCopter(AutoTest):
self.progress("Waiting reading for arm")
self.wait_ready_to_arm()
self.run_test("Set modes via modeswitch",
self.test_setting_modes_via_modeswitch)
self.run_test("Set modes via auxswitch",
self.test_setting_modes_via_auxswitch)
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
# Arm
self.run_test("Arm motors", self.arm_vehicle)

26
Tools/autotest/common.py
View File

@ -223,6 +223,11 @@ class AutoTest(ABC):
self.buildlogs_path("%s-valgrind.log" %
self.log_name))
def start_test(self, description):
self.progress("#")
self.progress("########## %s ##########" % description)
self.progress("#")
#################################################
# GENERAL UTILITIES
#################################################
@ -729,7 +734,7 @@ class AutoTest(ABC):
(wpnum_end, wpnum_end))
raise WaitWaypointTimeout()
def wait_mode(self, mode, timeout=None):
def wait_mode(self, mode, timeout=60):
"""Wait for mode to change."""
mode_map = self.mav.mode_mapping()
if mode_map is None or mode not in mode_map:
@ -738,15 +743,15 @@ class AutoTest(ABC):
raise ErrorException()
self.progress("Waiting for mode %s" % mode)
tstart = self.get_sim_time()
hastimeout = False
while self.mav.flightmode != mode and not hastimeout:
if timeout is not None:
hastimeout = self.get_sim_time() > tstart + timeout
self.mav.wait_heartbeat()
self.progress("Got mode %s" % mode)
if self.mav.flightmode != mode and hastimeout:
while self.mav.flightmode != mode:
if (timeout is not None and
self.get_sim_time() > tstart + timeout):
raise WaitModeTimeout()
return True
self.mav.wait_heartbeat()
# self.progress("heartbeat mode %s Want: %s" % (
# self.mav.flightmode, mode))
self.progress("Got mode %s" % mode)
def wait_ready_to_arm(self, timeout=None):
# wait for EKF checks to pass
@ -791,7 +796,7 @@ class AutoTest(ABC):
self.progress("Failed to get EKF.flags=%u" % required_value)
raise AutoTestTimeoutException()
def run_test(self, desc, function):
def run_test(self, desc, function, interact=False):
self.progress("#")
self.progress("########## %s ##########" % (desc))
self.progress("#")
@ -801,6 +806,9 @@ class AutoTest(ABC):
except Exception as e:
self.progress('FAILED: "%s": %s' % (desc, repr(e)))
self.fail_list.append((desc, e))
if interact:
self.progress("Starting MAVProxy interaction as directed")
self.mavproxy.interact()
return
self.progress('PASSED: "%s"' % desc)

2
Tools/autotest/default_params/copter.parm
View File

@ -3,7 +3,6 @@ FRAME_TYPE 0
MAG_ENABLE 1
FS_THR_ENABLE 1
BATT_MONITOR 4
CH7_OPT 7
COMPASS_LEARN 0
COMPASS_OFS_X 5
COMPASS_OFS_Y 13
@ -33,6 +32,7 @@ RC6_MIN 1000.000000
RC6_TRIM 1500.000000
RC7_MAX 2000.000000
RC7_MIN 1000.000000
RC7_OPTION 7
RC7_TRIM 1500.000000
RC8_MAX 2000.000000
RC8_MIN 1000.000000

2
Tools/scripts/runfliptest.py
View File

@ -47,7 +47,7 @@ mavproxy.expect('ARMED')
mavproxy.send('alt_hold\n')
wait_mode(mav, ['ALT_HOLD'])
mavproxy.send('rc 3 1800\n')
mavproxy.send('param set CH7_OPT 2\n')
mavproxy.send('param set RC7_OPTION 2\n')
mavproxy.send('repeat add 2 rc 7 2000\n')
wait_time(mav, 1)
mavproxy.send('repeat add 2 rc 7 1000\n')