mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
autotest: use new set_parameters in place of many set_parameter calls
autotest: use set_parameters for applying from parameter file autotest: use set_parameters in place of many set_parameter calls
This commit is contained in:
Peter Barker
Peter Barker
parent
2917c75f35
commit
e85e6d3375
@ -880,13 +880,15 @@ class AutoTestCopter(AutoTest):
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def test_battery_failsafe(self, timeout=300):
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def test_battery_failsafe(self, timeout=300):
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self.progress("Configure battery failsafe parameters")
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self.progress("Configure battery failsafe parameters")
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self.set_parameter('SIM_SPEEDUP', 4)
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self.set_parameters({
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self.set_parameter('BATT_LOW_VOLT', 11.5)
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'SIM_SPEEDUP': 4,
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self.set_parameter('BATT_CRT_VOLT', 10.1)
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'BATT_LOW_VOLT': 11.5,
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self.set_parameter('BATT_FS_LOW_ACT', 0)
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'BATT_CRT_VOLT': 10.1,
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self.set_parameter('BATT_FS_CRT_ACT', 0)
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'BATT_FS_LOW_ACT': 0,
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self.set_parameter('FS_OPTIONS', 0)
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'BATT_FS_CRT_ACT': 0,
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self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
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'FS_OPTIONS': 0,
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'SIM_BATT_VOLTAGE': 12.5,
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})
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# Trigger low battery condition with failsafe disabled. Verify no action taken.
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# Trigger low battery condition with failsafe disabled. Verify no action taken.
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self.start_subtest("Batt failsafe disabled test")
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self.start_subtest("Batt failsafe disabled test")
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@ -2092,17 +2094,19 @@ class AutoTestCopter(AutoTest):
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try:
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try:
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self.set_rc_default()
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self.set_rc_default()
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# magic tridge EKF type that dramatically speeds up the test
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# magic tridge EKF type that dramatically speeds up the test
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self.set_parameter("AHRS_EKF_TYPE", 10)
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self.set_parameters({
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self.set_parameter("INS_LOG_BAT_MASK", 3)
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"AHRS_EKF_TYPE": 10,
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self.set_parameter("INS_LOG_BAT_OPT", 0)
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"INS_LOG_BAT_MASK": 3,
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self.set_parameter("LOG_BITMASK", 958)
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"INS_LOG_BAT_OPT": 0,
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self.set_parameter("LOG_DISARMED", 0)
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"LOG_BITMASK": 958,
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self.set_parameter("SIM_VIB_MOT_MAX", 350)
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"LOG_DISARMED": 0,
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# these are real values taken from a 180mm Quad
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"SIM_VIB_MOT_MAX": 350,
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self.set_parameter("SIM_GYR_RND", 20)
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# these are real values taken from a 180mm Quad:
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self.set_parameter("SIM_ACC_RND", 5)
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"SIM_GYR_RND": 20,
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self.set_parameter("SIM_ACC2_RND", 5)
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"SIM_ACC_RND": 5,
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self.set_parameter("SIM_INS_THR_MIN", 0.1)
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"SIM_ACC2_RND": 5,
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"SIM_INS_THR_MIN": 0.1,
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})
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self.reboot_sitl()
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self.reboot_sitl()
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self.takeoff(15, mode="ALT_HOLD")
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self.takeoff(15, mode="ALT_HOLD")
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@ -2125,11 +2129,13 @@ class AutoTestCopter(AutoTest):
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self.progress("Detected motor peak at %fHz" % freq)
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self.progress("Detected motor peak at %fHz" % freq)
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# now add a notch and check that post-filter the peak is squashed below 40dB
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# now add a notch and check that post-filter the peak is squashed below 40dB
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self.set_parameter("INS_LOG_BAT_OPT", 2)
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self.set_parameters({
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self.set_parameter("INS_NOTCH_ENABLE", 1)
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"INS_LOG_BAT_OPT": 2,
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self.set_parameter("INS_NOTCH_FREQ", freq)
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"INS_NOTCH_ENABLE": 1,
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self.set_parameter("INS_NOTCH_ATT", 50)
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"INS_NOTCH_FREQ": freq,
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self.set_parameter("INS_NOTCH_BW", freq/2)
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"INS_NOTCH_ATT": 50,
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"INS_NOTCH_BW": freq/2,
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})
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self.reboot_sitl()
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self.reboot_sitl()
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self.takeoff(15, mode="ALT_HOLD")
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self.takeoff(15, mode="ALT_HOLD")
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@ -2254,18 +2260,20 @@ class AutoTestCopter(AutoTest):
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self.context_push()
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self.context_push()
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ex = None
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ex = None
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try:
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try:
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self.set_parameter("VISO_TYPE", 2) # enable vicon
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self.set_parameters({
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self.set_parameter("SERIAL5_PROTOCOL", 2)
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"VISO_TYPE": 2, # enable vicon
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self.set_parameter("EK3_ENABLE", 1)
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"SERIAL5_PROTOCOL": 2,
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self.set_parameter("EK3_SRC2_POSXY", 6) # External Nav
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"EK3_ENABLE": 1,
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self.set_parameter("EK3_SRC2_POSZ", 6) # External Nav
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"EK3_SRC2_POSXY": 6, # External Nav
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self.set_parameter("EK3_SRC2_VELXY", 6) # External Nav
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"EK3_SRC2_POSZ": 6, # External Nav
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self.set_parameter("EK3_SRC2_VELZ", 6) # External Nav
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"EK3_SRC2_VELXY": 6, # External Nav
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self.set_parameter("EK3_SRC2_YAW", 6) # External Nav
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"EK3_SRC2_VELZ": 6, # External Nav
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self.set_parameter("RC7_OPTION", 80) # RC aux switch 7 set to Viso Align
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"EK3_SRC2_YAW": 6, # External Nav
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self.set_parameter("RC8_OPTION", 90) # RC aux switch 8 set to EKF source selector
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"RC7_OPTION": 80, # RC aux switch 7 set to Viso Align
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self.set_parameter("EK2_ENABLE", 0)
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"RC8_OPTION": 90, # RC aux switch 8 set to EKF source selector
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self.set_parameter("AHRS_EKF_TYPE", 3)
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"EK2_ENABLE": 0,
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"AHRS_EKF_TYPE": 3,
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})
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self.reboot_sitl()
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self.reboot_sitl()
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# switch to use GPS
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# switch to use GPS
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@ -2548,10 +2556,12 @@ class AutoTestCopter(AutoTest):
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try:
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try:
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self.set_analog_rangefinder_parameters()
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self.set_analog_rangefinder_parameters()
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self.set_parameter("RNGFND1_MAX_CM", 1500)
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self.set_parameters({
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self.set_parameter("EK2_RNG_USE_HGT", 70)
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"RNGFND1_MAX_CM": 1500,
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self.set_parameter("EK2_ENABLE", 1)
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"EK2_RNG_USE_HGT": 70,
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self.set_parameter("AHRS_EKF_TYPE", 2)
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"EK2_ENABLE": 1,
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"AHRS_EKF_TYPE": 2,
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})
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self.reboot_sitl() # needed for both rangefinder and initial position
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self.reboot_sitl() # needed for both rangefinder and initial position
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self.assert_vehicle_location_is_at_startup_location()
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self.assert_vehicle_location_is_at_startup_location()
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@ -4052,9 +4062,11 @@ class AutoTestCopter(AutoTest):
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def fly_throw_mode(self):
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def fly_throw_mode(self):
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# test boomerang mode:
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# test boomerang mode:
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self.progress("Throwing vehicle away")
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self.progress("Throwing vehicle away")
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self.set_parameter("THROW_NEXTMODE", 6)
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self.set_parameters({
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self.set_parameter("SIM_SHOVE_Z", -30)
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"THROW_NEXTMODE": 6,
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self.set_parameter("SIM_SHOVE_X", -20)
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"SIM_SHOVE_Z": -30,
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"SIM_SHOVE_X": -20,
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})
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self.change_mode('THROW')
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self.change_mode('THROW')
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self.wait_ready_to_arm()
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.arm_vehicle()
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@ -5683,33 +5695,35 @@ class AutoTestCopter(AutoTest):
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raise ex
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raise ex
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def test_replay_gps_bit(self):
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def test_replay_gps_bit(self):
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self.set_parameter("LOG_REPLAY", 1)
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self.set_parameters({
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self.set_parameter("LOG_DISARMED", 1)
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"LOG_REPLAY": 1,
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self.set_parameter("EK3_ENABLE", 1)
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"LOG_DISARMED": 1,
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self.set_parameter("EK2_ENABLE", 1)
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"EK3_ENABLE": 1,
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self.set_parameter("AHRS_TRIM_X", 0.01)
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"EK2_ENABLE": 1,
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self.set_parameter("AHRS_TRIM_Y", -0.03)
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"AHRS_TRIM_X": 0.01,
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self.set_parameter("GPS_TYPE2", 1)
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"AHRS_TRIM_Y": -0.03,
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self.set_parameter("GPS_POS1_X", 0.1)
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"GPS_TYPE2": 1,
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self.set_parameter("GPS_POS1_Y", 0.2)
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"GPS_POS1_X": 0.1,
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self.set_parameter("GPS_POS1_Z", 0.3)
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"GPS_POS1_Y": 0.2,
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self.set_parameter("GPS_POS2_X", -0.1)
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"GPS_POS1_Z": 0.3,
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self.set_parameter("GPS_POS2_Y", -0.02)
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"GPS_POS2_X": -0.1,
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self.set_parameter("GPS_POS2_Z", -0.31)
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"GPS_POS2_Y": -0.02,
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self.set_parameter("INS_POS1_X", 0.12)
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"GPS_POS2_Z": -0.31,
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self.set_parameter("INS_POS1_Y", 0.14)
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"INS_POS1_X": 0.12,
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self.set_parameter("INS_POS1_Z", -0.02)
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"INS_POS1_Y": 0.14,
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self.set_parameter("INS_POS2_X", 0.07)
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"INS_POS1_Z": -0.02,
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self.set_parameter("INS_POS2_Y", 0.012)
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"INS_POS2_X": 0.07,
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self.set_parameter("INS_POS2_Z", -0.06)
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"INS_POS2_Y": 0.012,
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self.set_parameter("RNGFND1_TYPE", 1)
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"INS_POS2_Z": -0.06,
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self.set_parameter("RNGFND1_PIN", 0)
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"RNGFND1_TYPE": 1,
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self.set_parameter("RNGFND1_SCALING", 30)
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"RNGFND1_PIN": 0,
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self.set_parameter("RNGFND1_POS_X", 0.17)
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"RNGFND1_SCALING": 30,
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self.set_parameter("RNGFND1_POS_Y", -0.07)
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"RNGFND1_POS_X": 0.17,
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self.set_parameter("RNGFND1_POS_Z", -0.005)
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"RNGFND1_POS_Y": -0.07,
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self.set_parameter("SIM_SONAR_SCALE", 30)
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"RNGFND1_POS_Z": -0.005,
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self.set_parameter("SIM_GPS2_DISABLE", 0)
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"SIM_SONAR_SCALE": 30,
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"SIM_GPS2_DISABLE": 0,
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})
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self.reboot_sitl()
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self.reboot_sitl()
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current_log_filepath = self.current_onboard_log_filepath()
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current_log_filepath = self.current_onboard_log_filepath()
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@ -1256,33 +1256,10 @@ class AutoTest(ABC):
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parameters = mavparm.MAVParmDict()
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parameters = mavparm.MAVParmDict()
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correct_parameters = set()
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correct_parameters = set()
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parameters.load(filepath)
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parameters.load(filepath)
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failfetch = None
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param_dict = {}
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for i in range(10):
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for p in parameters.keys():
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self.progress("Apply parameter file (%s) pass %u" % (filepath, i+1,))
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param_dict[p] = parameters[p]
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success = True
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self.set_parameters(param_dict)
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for p in parameters.keys():
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if p in correct_parameters:
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continue
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try:
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current = self.get_parameter(p, verbose=False)
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except Exception as e:
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# may still be hidden
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self.progress("get_parameter(%s) failed" % p)
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failfetch = p
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success = False
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continue
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delta = current - parameters[p]
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self.progress("%s: want=%f got=%f delta=%f" %
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(p, parameters[p], current, delta))
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if abs(delta) > 0.00001:
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success = False
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self.set_parameter(p, parameters[p], verbose=False)
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continue
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correct_parameters.add(p)
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if success:
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self.progress("Applied parameter file (%s)" % (filepath))
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return
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raise NotAchievedException("Failed to load parameter file; last failfetch was %s" % failfetch)
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def repeatedly_apply_parameter_file_mavproxy(self, filepath):
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def repeatedly_apply_parameter_file_mavproxy(self, filepath):
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'''keep applying a parameter file until no parameters changed'''
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'''keep applying a parameter file until no parameters changed'''
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@ -5471,10 +5448,12 @@ Also, ignores heartbeats not from our target system'''
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("SIM_MAG%d_ODI_Z" % count, "COMPASS_ODI%d_Z" % count, 42.0), ],
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("SIM_MAG%d_ODI_Z" % count, "COMPASS_ODI%d_Z" % count, 42.0), ],
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]
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]
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self.wait_heartbeat()
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self.wait_heartbeat()
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to_set = {}
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for param_set in params:
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for param_set in params:
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for param in param_set:
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for param in param_set:
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(_, _out, value) = param
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(_, _out, value) = param
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self.set_parameter(_out, value)
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to_set[_out] = value
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self.set_parameters(to_set)
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self.check_zero_mag_parameters(params)
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self.check_zero_mag_parameters(params)
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def check_mag_parameters(self, parameter_stuff, compass_number):
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def check_mag_parameters(self, parameter_stuff, compass_number):
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@ -5574,11 +5553,13 @@ Also, ignores heartbeats not from our target system'''
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# self.set_parameter("SIM_MAG%d_ORIENT" % count, MAG_ORIENT * (count % 41))
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# self.set_parameter("SIM_MAG%d_ORIENT" % count, MAG_ORIENT * (count % 41))
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# # set compass external to check that orientation is found and auto set
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# # set compass external to check that orientation is found and auto set
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# self.set_parameter("COMPASS_EXTERN%d" % count, 1)
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# self.set_parameter("COMPASS_EXTERN%d" % count, 1)
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to_set = {}
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for param_set in params:
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for param_set in params:
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for param in param_set:
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for param in param_set:
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(_in, _out, value) = param
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(_in, _out, value) = param
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self.set_parameter(_in, value)
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to_set[_in] = value
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self.set_parameter(_out, value)
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to_set[_out] = value
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self.set_parameters(to_set)
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self.start_subtest("Zeroing Mag OFS parameters with Mavlink")
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self.start_subtest("Zeroing Mag OFS parameters with Mavlink")
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self.zero_mag_offset_parameters()
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self.zero_mag_offset_parameters()
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self.progress("=========================================")
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self.progress("=========================================")
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@ -5936,8 +5917,7 @@ Also, ignores heartbeats not from our target system'''
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raise NotAchievedException("Values are not all unique!")
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raise NotAchievedException("Values are not all unique!")
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self.progress("Setting parameters")
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self.progress("Setting parameters")
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for param in originals.keys():
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self.set_parameters(originals)
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self.set_parameter(param, originals[param])
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self.reboot_sitl()
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self.reboot_sitl()
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@ -6016,17 +5996,20 @@ Also, ignores heartbeats not from our target system'''
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"COMPASS_ODI3_Y": 0,
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"COMPASS_ODI3_Y": 0,
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"COMPASS_ODI3_Z": 0,
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"COMPASS_ODI3_Z": 0,
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}
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}
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self.set_parameter("SIM_MAG_OFS_X", MAG_OFS_X)
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self.set_parameters({
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self.set_parameter("SIM_MAG_OFS_Y", MAG_OFS_Y)
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"SIM_MAG_OFS_X": MAG_OFS_X,
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self.set_parameter("SIM_MAG_OFS_Z", MAG_OFS_Z)
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"SIM_MAG_OFS_Y": MAG_OFS_Y,
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"SIM_MAG_OFS_Z": MAG_OFS_Z,
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self.set_parameter("SIM_MAG2_OFS_X", MAG_OFS_X)
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"SIM_MAG2_OFS_X": MAG_OFS_X,
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self.set_parameter("SIM_MAG2_OFS_Y", MAG_OFS_Y)
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"SIM_MAG2_OFS_Y": MAG_OFS_Y,
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self.set_parameter("SIM_MAG2_OFS_Z", MAG_OFS_Z)
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"SIM_MAG2_OFS_Z": MAG_OFS_Z,
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"SIM_MAG3_OFS_X": MAG_OFS_X,
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"SIM_MAG3_OFS_Y": MAG_OFS_Y,
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"SIM_MAG3_OFS_Z": MAG_OFS_Z,
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})
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self.set_parameter("SIM_MAG3_OFS_X", MAG_OFS_X)
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self.set_parameter("SIM_MAG3_OFS_Y", MAG_OFS_Y)
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self.set_parameter("SIM_MAG3_OFS_Z", MAG_OFS_Z)
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# set to some sensible-ish initial values. If your initial
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# set to some sensible-ish initial values. If your initial
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# offsets are way, way off you can get some very odd effects.
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# offsets are way, way off you can get some very odd effects.
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for param in wanted:
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for param in wanted:
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@ -6845,18 +6828,20 @@ Also, ignores heartbeats not from our target system'''
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def test_gripper(self):
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def test_gripper(self):
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self.context_push()
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self.context_push()
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self.set_parameter("GRIP_ENABLE", 1)
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self.set_parameters({
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self.set_parameter("GRIP_GRAB", 2000)
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"GRIP_ENABLE": 1,
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self.set_parameter("GRIP_RELEASE", 1000)
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"GRIP_GRAB": 2000,
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self.set_parameter("GRIP_TYPE", 1)
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"GRIP_RELEASE": 1000,
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self.set_parameter("SIM_GRPS_ENABLE", 1)
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"GRIP_TYPE": 1,
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self.set_parameter("SIM_GRPS_PIN", 8)
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"SIM_GRPS_ENABLE": 1,
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self.set_parameter("SERVO8_FUNCTION", 28)
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"SIM_GRPS_PIN": 8,
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self.set_parameter("SERVO8_MIN", 1000)
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"SERVO8_FUNCTION": 28,
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self.set_parameter("SERVO8_MAX", 2000)
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"SERVO8_MIN": 1000,
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self.set_parameter("SERVO9_MIN", 1000)
|
"SERVO8_MAX": 2000,
|
||||||
self.set_parameter("SERVO9_MAX", 2000)
|
"SERVO9_MIN": 1000,
|
||||||
self.set_parameter("RC9_OPTION", 19)
|
"SERVO9_MAX": 2000,
|
||||||
|
"RC9_OPTION": 19,
|
||||||
|
})
|
||||||
self.set_rc(9, 1500)
|
self.set_rc(9, 1500)
|
||||||
self.reboot_sitl()
|
self.reboot_sitl()
|
||||||
self.progress("Waiting for ready to arm")
|
self.progress("Waiting for ready to arm")
|
||||||
|
|||||||
@ -449,54 +449,59 @@ class AutoTestQuadPlane(AutoTest):
|
|||||||
self.set_rc_default()
|
self.set_rc_default()
|
||||||
|
|
||||||
# magic tridge EKF type that dramatically speeds up the test
|
# magic tridge EKF type that dramatically speeds up the test
|
||||||
self.set_parameter("AHRS_EKF_TYPE", 10)
|
self.set_parameters({
|
||||||
|
"AHRS_EKF_TYPE": 10,
|
||||||
self.set_parameter("INS_LOG_BAT_MASK", 3)
|
|
||||||
self.set_parameter("INS_LOG_BAT_OPT", 0)
|
|
||||||
self.set_parameter("INS_GYRO_FILTER", 100)
|
|
||||||
self.set_parameter("LOG_BITMASK", 45054)
|
|
||||||
self.set_parameter("LOG_DISARMED", 0)
|
|
||||||
self.set_parameter("SIM_DRIFT_SPEED", 0)
|
|
||||||
self.set_parameter("SIM_DRIFT_TIME", 0)
|
|
||||||
# enable a noisy motor peak
|
|
||||||
self.set_parameter("SIM_GYR_RND", 20)
|
|
||||||
# enabling FFT will also enable the arming check, self-testing the functionality
|
|
||||||
self.set_parameter("FFT_ENABLE", 1)
|
|
||||||
self.set_parameter("FFT_MINHZ", 80)
|
|
||||||
self.set_parameter("FFT_MAXHZ", 350)
|
|
||||||
self.set_parameter("FFT_SNR_REF", 10)
|
|
||||||
self.set_parameter("FFT_WINDOW_SIZE", 128)
|
|
||||||
self.set_parameter("FFT_WINDOW_OLAP", 0.75)
|
|
||||||
|
|
||||||
|
"INS_LOG_BAT_MASK": 3,
|
||||||
|
"INS_LOG_BAT_OPT": 0,
|
||||||
|
"INS_GYRO_FILTER": 100,
|
||||||
|
"LOG_BITMASK": 45054,
|
||||||
|
"LOG_DISARMED": 0,
|
||||||
|
"SIM_DRIFT_SPEED": 0,
|
||||||
|
"SIM_DRIFT_TIME": 0,
|
||||||
|
# enable a noisy motor peak
|
||||||
|
"SIM_GYR_RND": 20,
|
||||||
|
# enabling FFT will also enable the arming check: self-testing the functionality
|
||||||
|
"FFT_ENABLE": 1,
|
||||||
|
"FFT_MINHZ": 80,
|
||||||
|
"FFT_MAXHZ": 350,
|
||||||
|
"FFT_SNR_REF": 10,
|
||||||
|
"FFT_WINDOW_SIZE": 128,
|
||||||
|
"FFT_WINDOW_OLAP": 0.75,
|
||||||
|
});
|
||||||
# Step 1: inject a very precise noise peak at 250hz and make sure the in-flight fft
|
# Step 1: inject a very precise noise peak at 250hz and make sure the in-flight fft
|
||||||
# can detect it really accurately. For a 128 FFT the frequency resolution is 8Hz so
|
# can detect it really accurately. For a 128 FFT the frequency resolution is 8Hz so
|
||||||
# a 250Hz peak should be detectable within 5%
|
# a 250Hz peak should be detectable within 5%
|
||||||
self.set_parameter("SIM_VIB_FREQ_X", 250)
|
self.set_parameters({
|
||||||
self.set_parameter("SIM_VIB_FREQ_Y", 250)
|
"SIM_VIB_FREQ_X": 250,
|
||||||
self.set_parameter("SIM_VIB_FREQ_Z", 250)
|
"SIM_VIB_FREQ_Y": 250,
|
||||||
|
"SIM_VIB_FREQ_Z": 250,
|
||||||
|
})
|
||||||
self.reboot_sitl()
|
self.reboot_sitl()
|
||||||
|
|
||||||
# find a motor peak
|
# find a motor peak
|
||||||
self.hover_and_check_matched_frequency(-15, 100, 350, 128, 250)
|
self.hover_and_check_matched_frequency(-15, 100, 350, 128, 250)
|
||||||
|
|
||||||
# Step 2: inject actual motor noise and use the standard length FFT to track it
|
# Step 2: inject actual motor noise and use the standard length FFT to track it
|
||||||
self.set_parameter("SIM_VIB_MOT_MAX", 350)
|
self.set_parameters({
|
||||||
self.set_parameter("FFT_WINDOW_SIZE", 32)
|
"SIM_VIB_MOT_MAX": 350,
|
||||||
self.set_parameter("FFT_WINDOW_OLAP", 0.5)
|
"FFT_WINDOW_SIZE": 32,
|
||||||
|
"FFT_WINDOW_OLAP": 0.5,
|
||||||
|
})
|
||||||
self.reboot_sitl()
|
self.reboot_sitl()
|
||||||
# find a motor peak
|
# find a motor peak
|
||||||
freq = self.hover_and_check_matched_frequency(-15, 200, 300, 32)
|
freq = self.hover_and_check_matched_frequency(-15, 200, 300, 32)
|
||||||
|
|
||||||
# Step 3: add a FFT dynamic notch and check that the peak is squashed
|
# Step 3: add a FFT dynamic notch and check that the peak is squashed
|
||||||
self.set_parameter("INS_LOG_BAT_OPT", 2)
|
self.set_parameters({
|
||||||
self.set_parameter("INS_HNTCH_ENABLE", 1)
|
"INS_LOG_BAT_OPT": 2,
|
||||||
self.set_parameter("INS_HNTCH_FREQ", freq)
|
"INS_HNTCH_ENABLE": 1,
|
||||||
self.set_parameter("INS_HNTCH_REF", 1.0)
|
"INS_HNTCH_FREQ": freq,
|
||||||
self.set_parameter("INS_HNTCH_ATT", 50)
|
"INS_HNTCH_REF": 1.0,
|
||||||
self.set_parameter("INS_HNTCH_BW", freq/2)
|
"INS_HNTCH_ATT": 50,
|
||||||
self.set_parameter("INS_HNTCH_MODE", 4)
|
"INS_HNTCH_BW": freq/2,
|
||||||
|
"INS_HNTCH_MODE": 4,
|
||||||
|
})
|
||||||
self.reboot_sitl()
|
self.reboot_sitl()
|
||||||
|
|
||||||
self.takeoff(10, mode="QHOVER")
|
self.takeoff(10, mode="QHOVER")
|
||||||
|
|||||||
@ -242,24 +242,26 @@ class AutoTestRover(AutoTest):
|
|||||||
spinner_ch_trim = 1510
|
spinner_ch_trim = 1510
|
||||||
spinner_ch_max = 1975
|
spinner_ch_max = 1975
|
||||||
|
|
||||||
self.set_parameter("SPRAY_ENABLE", 1)
|
self.set_parameters({
|
||||||
|
"SPRAY_ENABLE": 1,
|
||||||
|
|
||||||
self.set_parameter("SERVO%u_FUNCTION" % pump_ch, 22)
|
"SERVO%u_FUNCTION" % pump_ch: 22,
|
||||||
self.set_parameter("SERVO%u_MIN" % pump_ch, pump_ch_min)
|
"SERVO%u_MIN" % pump_ch: pump_ch_min,
|
||||||
self.set_parameter("SERVO%u_TRIM" % pump_ch, pump_ch_trim)
|
"SERVO%u_TRIM" % pump_ch: pump_ch_trim,
|
||||||
self.set_parameter("SERVO%u_MAX" % pump_ch, pump_ch_max)
|
"SERVO%u_MAX" % pump_ch: pump_ch_max,
|
||||||
|
|
||||||
self.set_parameter("SERVO%u_FUNCTION" % spinner_ch, 23)
|
"SERVO%u_FUNCTION" % spinner_ch: 23,
|
||||||
self.set_parameter("SERVO%u_MIN" % spinner_ch, spinner_ch_min)
|
"SERVO%u_MIN" % spinner_ch: spinner_ch_min,
|
||||||
self.set_parameter("SERVO%u_TRIM" % spinner_ch, spinner_ch_trim)
|
"SERVO%u_TRIM" % spinner_ch: spinner_ch_trim,
|
||||||
self.set_parameter("SERVO%u_MAX" % spinner_ch, spinner_ch_max)
|
"SERVO%u_MAX" % spinner_ch: spinner_ch_max,
|
||||||
|
|
||||||
self.set_parameter("SIM_SPR_ENABLE", 1)
|
"SIM_SPR_ENABLE": 1,
|
||||||
self.set_parameter("SIM_SPR_PUMP", pump_ch)
|
"SIM_SPR_PUMP": pump_ch,
|
||||||
self.set_parameter("SIM_SPR_SPIN", spinner_ch)
|
"SIM_SPR_SPIN": spinner_ch,
|
||||||
|
|
||||||
self.set_parameter("RC%u_OPTION" % rc_ch, 15)
|
"RC%u_OPTION" % rc_ch: 15,
|
||||||
self.set_parameter("LOG_DISARMED", 1)
|
"LOG_DISARMED": 1,
|
||||||
|
})
|
||||||
|
|
||||||
self.reboot_sitl()
|
self.reboot_sitl()
|
||||||
|
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user