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Tools: autotest: add test for autotune

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Peter Barker 2018-04-18 12:47:31 +10:00 committed by Randy Mackay
parent 9c72a8ecc7
commit baf869f8d6
2 changed files with 38 additions and 1 deletions
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30
Tools/autotest/arducopter.py
View File

@ -990,6 +990,33 @@ class AutoTestCopter(AutoTest):
self.progress("CIRCLE OK for %u seconds" % holdtime)
# fly_autotune - autotune the virtual vehicle
def fly_autotune(self):
# hold position in loiter
self.mavproxy.send('mode autotune\n')
self.wait_mode('AUTOTUNE')
tstart = self.get_sim_time()
sim_time_expected = 5000
deadline = tstart + sim_time_expected
while self.get_sim_time_cached() < deadline:
now = self.get_sim_time_cached()
m = self.mav.recv_match(type='STATUSTEXT',
blocking=True,
timeout=1)
if m is None:
continue
self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text))
if "AutoTune: Success" in m.text:
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
# near enough for now:
return
self.progress("AUTOTUNE failed (%u seconds)" %
(self.get_sim_time() - tstart))
raise NotAchievedException()
# fly_auto_test - fly mission which tests a significant number of commands
def fly_auto_test(self):
# Fly mission #1
@ -1396,6 +1423,9 @@ class AutoTestCopter(AutoTest):
self.run_test("Takeoff to test fly Square",
lambda: self.takeoff(10))
# AutoTune mode
self.run_test("Fly AUTOTUNE mode", self.fly_autotune)
# Fly a square in Stabilize mode
self.run_test("Fly a square and save WPs with CH7",
self.fly_square)

9
Tools/autotest/common.py
View File

@ -263,6 +263,13 @@ class AutoTest(ABC):
m = self.mav.recv_match(type='SYSTEM_TIME', blocking=True)
return m.time_boot_ms * 1.0e-3
def get_sim_time_cached(self):
"""Get SITL time."""
x = self.mav.messages.get("SYSTEM_TIME", None)
if x is None:
return self.get_sim_time()
return x.time_boot_ms * 1.0e-3
def sim_location(self):
"""Return current simulator location."""
m = self.mav.recv_match(type='SIMSTATE', blocking=True)
@ -348,7 +355,7 @@ class AutoTest(ABC):
def set_rc(self, chan, pwm, timeout=20):
"""Setup a simulated RC control to a PWM value"""
tstart = self.get_sim_time()
while self.get_sim_time() < tstart + timeout:
while self.get_sim_time_cached() < tstart + timeout:
self.mavproxy.send('rc %u %u\n' % (chan, pwm))
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
chan_pwm = getattr(m, "chan" + str(chan) + "_raw")