mirror of https://github.com/ArduPilot/ardupilot
autotest: added initial implementation of flying of ArduPlane
takeoff, circuit, roll, RTL, mission
This commit is contained in:
Andrew Tridgell
parent
c21e976513
commit
c4622e58f0
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@ -0,0 +1,38 @@
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LOG_BITMASK 4095
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SWITCH_ENABLE 0
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RC2_REV -1
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RC1_MAX 2000
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RC1_MIN 1000
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RC1_TRIM 1500
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RC2_MAX 2000
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RC2_MIN 1000
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RC2_TRIM 1500
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RC3_MAX 2000
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RC3_MIN 1000
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RC3_TRIM 1500
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RC4_MAX 2000
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RC4_MIN 1000
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RC4_TRIM 1500
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RC5_MAX 2000
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RC5_MIN 1000
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RC5_TRIM 1500
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RC6_MAX 2000
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RC6_MIN 1000
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RC6_TRIM 1500
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RC7_MAX 2000
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RC7_MIN 1000
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RC7_TRIM 1500
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RC8_MAX 2000
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RC8_MIN 1000
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RC8_TRIM 1500
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FLTMODE1 10
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FLTMODE2 11
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FLTMODE3 12
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FLTMODE4 5
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FLTMODE5 2
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FLTMODE6 0
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FLTMODE_CH 8
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PTCH2SRV_P 2
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RLL2SRV_I 0.1
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RLL2SRV_P 1.2
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INVERTEDFLT_CH 7
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@ -0,0 +1,7 @@
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QGC WPL 110
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0 1 0 16 0.000000 0.000000 0.000000 0.000000 -35.362881 149.165222 582.000000 1
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1 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361553 149.163956 120.000000 1
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2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364540 149.162857 120.000000 1
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3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361721 149.161835 120.000000 1
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4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364170 149.164627 120.000000 1
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5 0 3 20 0.000000 0.000000 0.000000 0.000000 -35.363289 149.165253 50.000000 1
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@ -279,6 +279,7 @@ def fly_ArduCopter(viewerip=None):
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failed = False
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e = 'None'
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try:
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mav.wait_heartbeat()
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mav.recv_match(type='GPS_RAW', blocking=True)
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@ -0,0 +1,269 @@
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# fly ArduPlane in SIL
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import util, pexpect, sys, time, math, shutil, os
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from common import *
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# get location of scripts
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testdir=os.path.dirname(os.path.realpath(__file__))
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sys.path.insert(0, util.reltopdir('../pymavlink'))
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import mavutil
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HOME_LOCATION='-35.362938,149.165085,584,270'
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homeloc = None
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def takeoff(mavproxy, mav):
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'''takeoff get to 30m altitude'''
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mavproxy.send('switch 4\n')
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wait_mode(mav, 'FBWA')
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# some rudder to counteract the prop torque
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mavproxy.send('rc 4 1600\n')
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# get it moving a bit first to avoid bad fgear ground physics
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mavproxy.send('rc 3 1150\n')
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mav.recv_match(condition='VFR_HUD.groundspeed>3', blocking=True)
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# a bit faster
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mavproxy.send('rc 3 1600\n')
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mav.recv_match(condition='VFR_HUD.groundspeed>10', blocking=True)
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# hit the gas harder now, and give it some elevator
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mavproxy.send('rc 4 1500\n')
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mavproxy.send('rc 2 1200\n')
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mavproxy.send('rc 3 1800\n')
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# gain a bit of altitude
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wait_altitude(mav, homeloc.alt+30, homeloc.alt+40, timeout=30)
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# level off
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mavproxy.send('rc 2 1500\n')
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print("TAKEOFF COMPLETE")
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return True
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def fly_left_circuit(mavproxy, mav):
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'''fly a left circuit, 200m on a side'''
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mavproxy.send('switch 4\n')
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wait_mode(mav, 'FBWA')
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print("Flying left circuit")
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# do 4 turns
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for i in range(0,4):
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# hard left
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print("Starting turn %u" % i)
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mavproxy.send('rc 1 1000\n')
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wait_heading(mav, 270 - (90*i))
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mavproxy.send('rc 1 1500\n')
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print("Starting leg %u" % i)
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wait_distance(mav, 100)
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print("Circuit complete")
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return True
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def fly_RTL(mavproxy, mav):
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'''fly to home'''
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mavproxy.send('switch 2\n')
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wait_mode(mav, 'RTL')
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wait_location(mav, homeloc, accuracy=30,
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target_altitude=100, height_accuracy=10)
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print("RTL Complete")
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return True
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def fly_LOITER(mavproxy, mav):
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'''loiter where we are'''
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mavproxy.send('switch 3\n')
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wait_mode(mav, 'LOITER')
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while True:
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wait_heading(mav, 0)
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wait_heading(mav, 180)
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return True
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def change_altitude(mavproxy, mav, altitude, accuracy=10):
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'''get to a given altitude'''
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mavproxy.send('switch 4\n')
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wait_mode(mav, 'FBWA')
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alt_error = mav.messages['VFR_HUD'].alt - altitude
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if alt_error > 0:
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mavproxy.send('rc 2 2000\n')
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else:
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mavproxy.send('rc 2 1000\n')
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wait_altitude(mav, altitude-accuracy/2, altitude+accuracy/2)
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mavproxy.send('rc 2 1500\n')
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print("Reached target altitude at %u" % mav.messages['VFR_HUD'].alt)
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return True
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def axial_left_roll(mavproxy, mav, count=1):
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'''fly a left axial roll'''
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# full throttle!
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mavproxy.send('rc 3 2000\n')
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change_altitude(mavproxy, mav, homeloc.alt+200)
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# fly the roll in manual
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mavproxy.send('switch 5\n')
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wait_mode(mav, 'STABILIZE')
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while count > 0:
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print("Starting roll")
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mavproxy.send('rc 1 1000\n')
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wait_roll(mav, -150, accuracy=20)
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wait_roll(mav, 150, accuracy=20)
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wait_roll(mav, 0, accuracy=20)
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count -= 1
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# back to FBWA
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mavproxy.send('rc 1 1500\n')
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mavproxy.send('switch 4\n')
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wait_mode(mav, 'FBWA')
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mavproxy.send('rc 3 1700\n')
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if not wait_distance(mav, 50):
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return False
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return True
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def setup_rc(mavproxy):
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'''setup RC override control'''
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for chan in [1,2,4,5,6,7]:
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mavproxy.send('rc %u 1500\n' % chan)
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mavproxy.send('rc 3 1000\n')
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mavproxy.send('rc 8 1800\n')
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def fly_mission(mavproxy, mav, filename, height_accuracy=-1, target_altitude=None):
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'''fly a mission from a file'''
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global homeloc
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mavproxy.send('wp load %s\n' % filename)
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mavproxy.expect('flight plan received')
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mavproxy.send('wp list\n')
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mavproxy.expect('Requesting [0-9]+ waypoints')
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mavproxy.send('switch 1\n') # auto mode
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wait_mode(mav, 'AUTO')
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if not wait_distance(mav, 30, timeout=120):
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return False
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if not wait_location(mav, homeloc, accuracy=50, timeout=600, target_altitude=target_altitude, height_accuracy=height_accuracy):
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return False
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print("Mission OK")
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return True
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def fly_ArduPlane(viewerip=None):
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'''fly ArduPlane in SIL
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you can pass viewerip as an IP address to optionally send fg and
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mavproxy packets too for local viewing of the flight in real time
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'''
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global expect_list, homeloc
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sil = util.start_SIL('ArduPlane', wipe=True)
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options = '--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
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if viewerip:
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options += ' --out=%s:14550' % viewerip
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mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
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mavproxy.expect('Logging to (\S+)')
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logfile = mavproxy.match.group(1)
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print("LOGFILE %s" % logfile)
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buildlog = util.reltopdir("../buildlogs/ArduPlane-test.mavlog")
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print("buildlog=%s" % buildlog)
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if os.path.exists(buildlog):
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os.unlink(buildlog)
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os.link(logfile, buildlog)
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mavproxy.expect('Received [0-9]+ parameters')
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# setup test parameters
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mavproxy.send("param load %s/ArduPlane.parm\n" % testdir)
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mavproxy.expect('Loaded [0-9]+ parameters')
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util.expect_setup_callback(mavproxy, expect_callback)
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fgear_options = '''
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--generic=socket,in,25,,5502,udp,MAVLink \
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--generic=socket,out,50,,5501,udp,MAVLink \
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--aircraft=Rascal110-JSBSim \
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--control=mouse \
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--disable-intro-music \
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--airport=YKRY \
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--lat=-35.362851 \
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--lon=149.165223 \
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--heading=350 \
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--altitude=0 \
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--geometry=650x550 \
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--jpg-httpd=5502 \
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--disable-anti-alias-hud \
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--disable-hud-3d \
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--disable-enhanced-lighting \
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--disable-distance-attenuation \
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--disable-horizon-effect \
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--shading-flat \
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--disable-textures \
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--timeofday=noon \
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--fdm=jsb \
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--disable-sound \
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--disable-fullscreen \
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--disable-random-objects \
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--disable-ai-models \
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--shading-flat \
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--fog-disable \
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--disable-specular-highlight \
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--disable-skyblend \
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--fg-scenery="/home/tridge/project/UAV/fgdata/Scenery" \
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--disable-anti-alias-hud \
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--wind=0@0 \
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'''
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# start fgear
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if os.getenv('DISPLAY'):
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cmd = 'fgfs %s' % fgear_options
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else:
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cmd = "xvfb-run -s '-screen 0 800x600x24' fgfs --enable-wireframe %s" % fgear_options
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fgear = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
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util.pexpect_autoclose(fgear)
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expect_list.extend([fgear, sil, mavproxy])
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# get a mavlink connection going
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try:
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mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
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except Exception, msg:
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print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
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raise
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mav.message_hooks.append(message_hook)
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failed = False
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e = 'None'
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try:
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mav.wait_heartbeat()
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setup_rc(mavproxy)
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mav.recv_match(type='GPS_RAW', condition='GPS_RAW.lat != 0 and GPS_RAW.alt != 0 and VFR_HUD.alt != 0',
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blocking=True)
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homeloc = current_location(mav)
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print("Home location: %s" % homeloc)
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if not takeoff(mavproxy, mav):
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failed = True
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if not fly_left_circuit(mavproxy, mav):
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failed = True
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if not axial_left_roll(mavproxy, mav, 1):
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failed = True
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if not fly_RTL(mavproxy, mav):
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failed = True
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if not fly_mission(mavproxy, mav, os.path.join(testdir, "ap1.txt"), height_accuracy = 10,
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target_altitude=homeloc.alt+100):
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failed = True
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except pexpect.TIMEOUT, e:
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failed = True
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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util.pexpect_close(fgear)
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if os.path.exists('ArduPlane-valgrind.log'):
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os.chmod('ArduPlane-valgrind.log', 0644)
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shutil.copy("ArduPlane-valgrind.log", util.reltopdir("../buildlogs/ArduPlane-valgrind.log"))
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if failed:
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print("FAILED: %s" % e)
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return False
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return True
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@ -2,7 +2,8 @@
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# APM automatic test suite
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# Andrew Tridgell, October 2011
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import pexpect, os, util, sys, shutil, arducopter
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import pexpect, os, util, sys, shutil
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import arducopter, arduplane
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import optparse, fnmatch, time, glob, traceback
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os.putenv('TMPDIR', util.reltopdir('tmp'))
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@ -91,6 +92,7 @@ steps = [
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'build.ArduPlane',
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'defaults.ArduPlane',
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'logs.ArduPlane',
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'fly.ArduPlane',
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'build1280.ArduCopter',
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'build2560.ArduCopter',
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'build.ArduCopter',
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@ -147,6 +149,9 @@ def run_step(step):
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if step == 'fly.ArduCopter':
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return arducopter.fly_ArduCopter()
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if step == 'fly.ArduPlane':
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return arduplane.fly_ArduPlane(viewerip=opts.viewerip)
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if step == 'convertgpx':
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return convert_gpx()
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@ -73,9 +73,15 @@ def pexpect_autoclose(p):
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def pexpect_close(p):
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'''close a pexpect child'''
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global close_list
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try:
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p.close()
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except Exception:
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pass
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time.sleep(1)
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try:
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p.close(force=True)
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except Exception:
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pass
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if p in close_list:
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close_list.remove(p)
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