mirror of https://github.com/ArduPilot/ardupilot
autotest: add FlyEachFrame test for Plane
This commit is contained in:
Peter Barker
Andrew Tridgell
parent
bf8f327938
commit
c432e032d8
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@ -0,0 +1,13 @@
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QGC WPL 110
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1 0 3 84 0.000000 0.000000 0.000000 0.000000 -35.361279 149.164230 30.000000 1
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2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361229 149.163025 80.000000 1
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3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364563 149.163773 80.000000 1
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4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364384 149.164795 80.000000 1
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5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361027 149.164093 80.000000 1
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6 0 0 177 2.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
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7 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.362915 149.162613 60.000000 1
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8 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363136 149.162750 60.000000 1
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9 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365467 149.164215 55.000000 1
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10 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365009 149.165482 39.889999 1
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11 0 3 85 0.000000 0.000000 0.000000 1.000000 -35.363041 149.165222 0.000000 1
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@ -0,0 +1,13 @@
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QGC WPL 110
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0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.390015 1
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1 0 3 22 15.000000 0.000000 0.000000 0.000000 -35.361279 149.164230 30.000000 1
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2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361229 149.163025 80.000000 1
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3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364563 149.163773 80.000000 1
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4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364384 149.164795 80.000000 1
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5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361027 149.164093 80.000000 1
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6 0 0 177 2.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
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7 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.362915 149.162613 60.000000 1
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8 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363136 149.162750 60.000000 1
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9 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365467 149.164215 55.000000 1
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10 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365009 149.165482 39.889999 1
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11 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.363041 149.165222 0.000000 1
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@ -20,6 +20,7 @@ from common import AutoTestTimeoutException
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from common import NotAchievedException
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from common import PreconditionFailedException
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from pymavlink.rotmat import Vector3
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from pysim import vehicleinfo
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import operator
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@ -522,7 +523,7 @@ class AutoTestPlane(AutoTest):
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return self.wait_level_flight()
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def fly_mission(self, filename, mission_timeout=60.0, strict=True):
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def fly_mission(self, filename, mission_timeout=60.0, strict=True, quadplane=False):
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"""Fly a mission from a file."""
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self.progress("Flying mission %s" % filename)
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num_wp = self.load_mission(filename, strict=strict)-1
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@ -530,7 +531,10 @@ class AutoTestPlane(AutoTest):
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self.change_mode('AUTO')
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self.wait_waypoint(1, num_wp, max_dist=60)
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self.wait_groundspeed(0, 0.5, timeout=mission_timeout)
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self.wait_statustext("Auto disarmed", timeout=60)
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if quadplane:
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self.wait_statustext("Throttle disarmed", timeout=60)
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else:
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self.wait_statustext("Auto disarmed", timeout=60)
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self.progress("Mission OK")
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def fly_do_reposition(self):
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@ -2880,6 +2884,49 @@ class AutoTestPlane(AutoTest):
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want_result=mavutil.mavlink.MAV_RESULT_DENIED
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)
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def fly_each_frame(self):
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vinfo = vehicleinfo.VehicleInfo()
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vinfo_options = vinfo.options[self.vehicleinfo_key()]
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known_broken_frames = {
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"firefly": "falls out of sky after transition",
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"plane-tailsitter": "does not take off; immediately emits 'AP: Transition VTOL done' while on ground",
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"quadplane-cl84": "falls out of sky instead of transitioning",
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"quadplane-tilttri": "falls out of sky instead of transitioning",
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"quadplane-tilttrivec": "loses attitude control and crashes",
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}
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for frame in sorted(vinfo_options["frames"].keys()):
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self.start_subtest("Testing frame (%s)" % str(frame))
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if frame in known_broken_frames:
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self.progress("Actually, no I'm not - it is known-broken (%s)" %
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(known_broken_frames[frame]))
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continue
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frame_bits = vinfo_options["frames"][frame]
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print("frame_bits: %s" % str(frame_bits))
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if frame_bits.get("external", False):
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self.progress("Actually, no I'm not - it is an external simulation")
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continue
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model = frame_bits.get("model", frame)
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# the model string for Callisto has crap in it.... we
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# should really have another entry in the vehicleinfo data
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# to carry the path to the JSON.
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actual_model = model.split(":")[0]
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defaults = self.model_defaults_filepath(actual_model)
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if type(defaults) != list:
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defaults = [defaults]
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self.customise_SITL_commandline(
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["--defaults", ','.join(defaults), ],
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model=model,
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wipe=True,
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)
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mission_file = "basic.txt"
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quadplane = self.get_parameter('Q_ENABLE')
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if quadplane:
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mission_file = "basic-quadplane.txt"
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.fly_mission(mission_file, strict=False, quadplane=quadplane)
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self.wait_disarmed()
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def tests(self):
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'''return list of all tests'''
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ret = super(AutoTestPlane, self).tests()
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@ -3069,6 +3116,10 @@ class AutoTestPlane(AutoTest):
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"Test smart battery logging etc",
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self.SmartBattery),
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("FlyEachFrame",
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"Fly each supported internal frame",
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self.fly_each_frame),
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("LogUpload",
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"Log upload",
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self.log_upload),
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@ -269,23 +269,31 @@ class VehicleInfo(object):
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"gazebo-zephyr": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/gazebo-zephyr.parm",
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"external": True,
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},
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"last_letter": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane.parm",
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"external": True,
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},
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"CRRCSim": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane.parm",
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"external": True,
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},
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"jsbsim": {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane-jsbsim.parm",
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"external": True,
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},
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"scrimmage-plane" : {
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"waf_target": "bin/arduplane",
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"default_params_filename": "default_params/plane.parm",
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"external": True,
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},
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"calibration": {
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"extra_mavlink_cmds": "module load sitl_calibration;",
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"external": True, # lies! OTOH, hard to take off with this
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},
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},
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},
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