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autotest: tidy various tests to take account of new framework capabilities

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autotest: simplify AutoDock test

autotest: tidy AP_Proximity_MAV test

autotest: tidy DriveSquare test

autotest: tidy BatteryFailsafe test

autotest: tidy GPSViconSwitching test

autotest: tidy RangeFinder test
This commit is contained in:
Peter Barker 2024-07-23 10:18:22 +10:00 committed by Peter Barker
parent 478d26d69c
commit bedc76e0e8
2 changed files with 222 additions and 298 deletions
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43
Tools/autotest/arducopter.py
View File

@ -961,21 +961,6 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
# Tests all actions and logic behind the battery failsafe
def BatteryFailsafe(self, timeout=300):
'''Fly Battery Failsafe'''
self.context_push()
ex = None
try:
self.test_battery_failsafe(timeout=timeout)
except Exception as e:
self.print_exception_caught(e)
self.disarm_vehicle(force=True)
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def test_battery_failsafe(self, timeout=300):
self.progress("Configure battery failsafe parameters")
self.set_parameters({
'SIM_SPEEDUP': 4,
@ -3730,12 +3715,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
def GPSViconSwitching(self):
"""Fly GPS and Vicon switching test"""
self.customise_SITL_commandline(["--serial5=sim:vicon:"])
"""Setup parameters including switching to EKF3"""
self.context_push()
ex = None
try:
self.set_parameters({
"VISO_TYPE": 2, # enable vicon
"SERIAL5_PROTOCOL": 2,
@ -3750,7 +3730,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
"EK2_ENABLE": 0,
"AHRS_EKF_TYPE": 3,
})
self.reboot_sitl()
self.customise_SITL_commandline(["--serial5=sim:vicon:"])
# switch to use GPS
self.set_rc(8, 1000)
@ -3798,15 +3778,6 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.set_rc(2, 1500)
self.do_RTL()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex is not None:
raise ex
def RTLSpeed(self):
"""Test RTL Speed parameters"""
rtl_speed_ms = 7
@ -3885,9 +3856,6 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
def RangeFinder(self):
'''Test RangeFinder Basic Functionality'''
ex = None
self.context_push()
self.progress("Making sure we don't ordinarily get RANGEFINDER")
m = self.mav.recv_match(type='RANGEFINDER',
blocking=True,
@ -3903,7 +3871,6 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
if self.current_onboard_log_contains_message("RFND"):
raise NotAchievedException("Found unexpected RFND message")
try:
self.set_analog_rangefinder_parameters()
self.set_parameter("RC9_OPTION", 10) # rangefinder
self.set_rc(9, 2000)
@ -3958,14 +3925,6 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
if not self.current_onboard_log_contains_message("RFND"):
raise NotAchievedException("Did not see expected RFND message")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def SplineTerrain(self):
'''Test Splines and Terrain'''
self.set_parameter("TERRAIN_ENABLE", 0)

37
Tools/autotest/rover.py
View File

@ -86,9 +86,6 @@ class AutoTestRover(vehicle_test_suite.TestSuite):
def DriveSquare(self, side=50):
"""Learn/Drive Square with Ch7 option"""
self.context_push()
ex = None
try:
self.progress("TEST SQUARE")
self.set_parameters({
"RC7_OPTION": 7,
@ -157,15 +154,8 @@ class AutoTestRover(vehicle_test_suite.TestSuite):
# TODO: actually drive the mission
self.clear_wp(9)
except Exception as e:
self.print_exception_caught(e)
ex = e
self.disarm_vehicle()
self.context_pop()
if ex:
raise ex
def drive_left_circuit(self):
"""Drive a left circuit, 50m on a side."""
@ -5592,9 +5582,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
def AP_Proximity_MAV(self):
'''Test MAV proximity backend'''
self.context_push()
ex = None
try:
self.set_parameters({
"PRX1_TYPE": 2, # AP_Proximity_MAV
"OA_TYPE": 2, # dijkstra
@ -5644,14 +5632,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
{"orientation": 7, "distance": 1190},
])
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def SendToComponents(self):
'''Test ArduPilot send_to_components function'''
self.set_parameter("CAM1_TYPE", 5) # Camera with MAVlink trigger
@ -6295,8 +6275,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
def AutoDock(self):
'''Test automatic docking of rover for multiple FOVs of simulated beacon'''
self.context_push()
self.set_parameters({
"PLND_ENABLED": 1,
"PLND_TYPE": 4,
@ -6322,8 +6300,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
})
for type in range(0, 3): # CYLINDRICAL FOV, CONICAL FOV, SPHERICAL FOV
ex = None
try:
self.set_parameter("SIM_PLD_TYPE", type)
self.reboot_sitl()
self.change_mode('GUIDED')
@ -6345,17 +6321,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
if not self.current_onboard_log_contains_message("PL"):
raise NotAchievedException("Did not see expected PL message")
except Exception as e:
self.print_exception_caught(e)
ex = e
break
self.context_pop()
if ex is not None:
raise ex
self.reboot_sitl()
self.progress("All done")
def PrivateChannel(self):