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Tools: add arm/disarm testing on all modes

This commit is contained in:
Pierre Kancir 2018-10-10 15:06:01 +02:00 committed by Peter Barker
parent b12cc57c64
commit daaf769055
9 changed files with 238 additions and 3 deletions
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3
Tools/autotest/ArduPlane-Missions/test_arming.txt Normal file
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@ -0,0 +1,3 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 -0.110000 1
1 0 3 17 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1

4
Tools/autotest/ArduRover-Missions/test_arming.txt Normal file
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@ -0,0 +1,4 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 -0.110000 1
1 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
2 0 3 17 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1

4
Tools/autotest/ArduSub-Missions/test_arming.txt Normal file
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@ -0,0 +1,4 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 -0.110000 1
1 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
2 0 3 17 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1

22
Tools/autotest/apmrover2.py
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@ -28,6 +28,25 @@ SITL_START_LOCATION = mavutil.location(40.071374969556928,
class AutoTestRover(AutoTest):
@staticmethod
def get_not_armable_mode_list():
return []
@staticmethod
def get_not_disarmed_settable_modes_list():
return ["FOLLOW"]
@staticmethod
def get_no_position_not_settable_modes_list():
return []
@staticmethod
def get_position_armable_modes_list():
return ["GUIDED", "LOITER", "STEERING", "AUTO", "RTL", "SMART_RTL"]
@staticmethod
def get_normal_armable_modes_list():
return ["ACRO", "HOLD", "MANUAL"]
def log_name(self):
return "APMrover2"
@ -47,6 +66,9 @@ class AutoTestRover(AutoTest):
def get_stick_arming_channel(self):
return int(self.get_parameter("RCMAP_ROLL"))
def arming_test_mission(self):
return os.path.join(testdir, "ArduRover-Missions", "test_arming.txt")
##########################################################
# TESTS DRIVE
##########################################################

19
Tools/autotest/arducopter.py
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@ -33,6 +33,25 @@ SITL_START_LOCATION_AVC = mavutil.location(40.072842, -105.230575, 1586, 0)
class AutoTestCopter(AutoTest):
@staticmethod
def get_not_armable_mode_list():
return ["AUTO", "AUTOTUNE", "BRAKE", "CIRCLE", "FLIP", "LAND", "RTL", "SMART_RTL", "AVOID_ADSB", "FOLLOW"]
@staticmethod
def get_not_disarmed_settable_modes_list():
return ["FLIP", "AUTOTUNE"]
@staticmethod
def get_no_position_not_settable_modes_list():
return []
@staticmethod
def get_position_armable_modes_list():
return ["DRIFT", "GUIDED", "LOITER", "POSHOLD", "THROW"]
@staticmethod
def get_normal_armable_modes_list():
return ["ACRO", "ALT_HOLD", "SPORT", "STABILIZE", "GUIDED_NOGPS"]
def log_name(self):
return "ArduCopter"

22
Tools/autotest/arduplane.py
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@ -25,6 +25,25 @@ WIND = "0,180,0.2" # speed,direction,variance
class AutoTestPlane(AutoTest):
@staticmethod
def get_not_armable_mode_list():
return []
@staticmethod
def get_not_disarmed_settable_modes_list():
return ["FOLLOW"]
@staticmethod
def get_no_position_not_settable_modes_list():
return []
@staticmethod
def get_position_armable_modes_list():
return ["GUIDED", "AUTO"]
@staticmethod
def get_normal_armable_modes_list():
return ["MANUAL", "STABILIZE", "ACRO"]
def log_name(self):
return "ArduPlane"
@ -58,6 +77,9 @@ class AutoTestPlane(AutoTest):
def set_autodisarm_delay(self, delay):
self.set_parameter("LAND_DISARMDELAY", delay)
def arming_test_mission(self):
return os.path.join(testdir, "ArduPlane-Missions", "test_arming.txt")
def takeoff(self, alt=150, alt_max=None, relative=True):
"""Takeoff to altitude."""

27
Tools/autotest/ardusub.py
View File

@ -12,8 +12,12 @@ from pysim import util
from common import AutoTest
from common import NotAchievedException
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
SITL_START_LOCATION = mavutil.location(33.810313, -118.393867, 0, 185)
class Joystick():
Pitch = 1
Roll = 2
@ -22,7 +26,27 @@ class Joystick():
Forward = 5
Lateral = 6
class AutoTestSub(AutoTest):
@staticmethod
def get_not_armable_mode_list():
return []
@staticmethod
def get_not_disarmed_settable_modes_list():
return []
@staticmethod
def get_no_position_not_settable_modes_list():
return ["AUTO", "GUIDED", "CIRCLE", "POSHOLD"]
@staticmethod
def get_position_armable_modes_list():
return []
@staticmethod
def get_normal_armable_modes_list():
return ["ACRO", "ALT_HOLD", "MANUAL", "STABILIZE", "SURFACE"]
def log_name(self):
return "ArduSub"
@ -48,6 +72,9 @@ class AutoTestSub(AutoTest):
def is_sub(self):
return True
def arming_test_mission(self):
return os.path.join(testdir, "ArduSub-Missions", "test_arming.txt")
def dive_manual(self):
self.wait_ready_to_arm()
self.arm_vehicle()

121
Tools/autotest/common.py
View File

@ -858,6 +858,12 @@ class AutoTest(ABC):
"""Return disarm delay value."""
raise ErrorException("Disarm delay is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame))
def arming_test_mission(self):
"""Load arming test mission.
This mission is used to allow to change mode to AUTO. For each vehicle
it get an unlimited wait waypoint and the starting takeoff if needed."""
return None
def armed(self):
"""Return true if vehicle is armed and safetyoff"""
return self.mav.motors_armed()
@ -1810,6 +1816,28 @@ class AutoTest(ABC):
raise AutoTestTimeoutException("Failed to get EKF.flags=%u" %
required_value)
def wait_gps_disable(self, timeout=30):
"""Disable GPS and wait for EKF to report the end of assistance from GPS."""
self.set_parameter("SIM_GPS_DISABLE", 1)
tstart = self.get_sim_time()
# all of these must NOT be set for arming NOT to happen:
not_required_value = mavutil.mavlink.ESTIMATOR_POS_HORIZ_REL
self.progress("Waiting for EKF not having bits %u" % not_required_value)
last_print_time = 0
while timeout is None or self.get_sim_time_cached() < tstart + timeout:
m = self.mav.recv_match(type='EKF_STATUS_REPORT', blocking=True, timeout=timeout)
if m is None:
continue
current = m.flags
if self.get_sim_time_cached() - last_print_time > 1:
self.progress("Wait EKF.flags: not required:%u current:%u" %
(not_required_value, current))
last_print_time = self.get_sim_time_cached()
if current & not_required_value != not_required_value:
self.progress("GPS disable OK")
return
raise AutoTestTimeoutException("Failed to get EKF.flags=%u disabled" % not_required_value)
def wait_text(self, text, timeout=20, the_function=None):
"""Wait a specific STATUS_TEXT."""
self.progress("Waiting for text : %s" % text.lower())
@ -1997,7 +2025,6 @@ class AutoTest(ABC):
self.progress("Ready to start testing!")
def upload_using_mission_protocol(self, mission_type, items):
'''mavlink2 required'''
target_system = 1
@ -2306,6 +2333,8 @@ class AutoTest(ABC):
def test_arm_feature(self):
"""Common feature to test."""
# TEST ARMING/DISARM
if self.get_parameter("ARMING_CHECK") != 1.0 and not self.is_sub():
raise ValueError("Arming check should be 1")
if not self.is_sub() and not self.is_tracker():
self.set_parameter("ARMING_RUDDER", 2) # allow arm and disarm with rudder on first tests
if self.is_copter():
@ -2335,7 +2364,7 @@ class AutoTest(ABC):
raise NotAchievedException("Failed to DISARM")
if not self.is_sub():
self.progress("arm with rc input")
self.start_subtest("Test arm with rc input")
if not self.arm_motors_with_rc_input():
raise NotAchievedException("Failed to arm with RC input")
self.progress("disarm with rc input")
@ -2436,8 +2465,94 @@ class AutoTest(ABC):
self.set_rc(interlock_channel, 1000)
raise NotAchievedException("Motor interlock was changed while disarmed")
self.set_rc(interlock_channel, 1000)
self.start_subtest("Test all mode arming")
if self.arming_test_mission() is not None:
self.load_mission(self.arming_test_mission())
for mode in self.mav.mode_mapping():
self.drain_mav()
self.start_subtest("Mode : %s" % mode)
if mode == "FOLLOW":
self.set_parameter("FOLL_ENABLE", 1)
if mode in self.get_normal_armable_modes_list():
self.progress("Armable mode : %s" % mode)
self.change_mode(mode)
self.arm_vehicle()
if not self.disarm_vehicle():
raise NotAchievedException("Failed to DISARM")
self.progress("PASS arm mode : %s" % mode)
if mode in self.get_not_armable_mode_list():
if mode in self.get_not_disarmed_settable_modes_list():
self.progress("Not settable mode : %s" % mode)
try:
self.change_mode(mode)
except AutoTestTimeoutException:
self.progress("PASS not able to set mode : %s disarmed" % mode)
pass
except ValueError:
self.progress("PASS not able to set mode : %s disarmed" % mode)
pass
else:
self.progress("Not armable mode : %s" % mode)
self.change_mode(mode)
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0,
want_result=mavutil.mavlink.MAV_RESULT_FAILED
)
self.progress("PASS not able to arm in mode : %s" % mode)
if mode in self.get_position_armable_modes_list():
self.progress("Armable mode needing Position : %s" % mode)
self.wait_ekf_happy()
self.change_mode(mode)
self.arm_vehicle()
self.wait_heartbeat()
if not self.disarm_vehicle():
raise NotAchievedException("Failed to DISARM")
self.progress("PASS arm mode : %s" % mode)
self.progress("Not armable mode without Position : %s" % mode)
self.wait_gps_disable()
self.change_mode(mode)
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0,
want_result=mavutil.mavlink.MAV_RESULT_FAILED
)
self.set_parameter("SIM_GPS_DISABLE", 0)
self.progress("PASS not able to arm without Position in mode : %s" % mode)
if mode in self.get_no_position_not_settable_modes_list():
self.progress("Setting mode need Position : %s" % mode)
self.wait_ekf_happy()
self.wait_gps_disable()
try:
self.change_mode(mode)
except AutoTestTimeoutException:
self.set_parameter("SIM_GPS_DISABLE", 0)
self.progress("PASS not able to set mode without Position : %s" % mode)
pass
except ValueError:
self.set_parameter("SIM_GPS_DISABLE", 0)
self.progress("PASS not able to set mode without Position : %s" % mode)
pass
if mode == "FOLLOW":
self.set_parameter("FOLL_ENABLE", 0)
self.change_mode(self.default_mode())
if self.armed():
if not self.disarm_vehicle():
raise NotAchievedException("Failed to DISARM")
self.progress("ALL PASS")
# TODO : add failure test : arming check, wrong mode; Test arming magic; Same for disarm
# TODO : Test arming magic;
def get_message_rate(self, victim_message, timeout):
tstart = self.get_sim_time()

19
Tools/autotest/quadplane.py
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@ -23,6 +23,25 @@ WIND = "0,180,0.2" # speed,direction,variance
class AutoTestQuadPlane(AutoTest):
@staticmethod
def get_not_armable_mode_list():
return []
@staticmethod
def get_not_disarmed_settable_modes_list():
return []
@staticmethod
def get_no_position_not_settable_modes_list():
return []
@staticmethod
def get_position_armable_modes_list():
return []
@staticmethod
def get_normal_armable_modes_list():
return []
def default_frame(self):
return "quadplane"