autotest: add blimp autotest framework

Tools/autotest/autotest.py

@@ -21,6 +21,7 @@ import sys
 import time
 import traceback
 
+import blimp
 import rover
 import arducopter
 import arduplane
@@ -380,6 +381,7 @@ def find_specific_test_to_run(step):
 
 
 tester_class_map = {
+    "test.Blimp": blimp.AutoTestBlimp,
     "test.Copter": arducopter.AutoTestCopter,
     "test.CopterTests1a": arducopter.AutoTestCopterTests1a, # 8m43s
     "test.CopterTests1b": arducopter.AutoTestCopterTests1b, # 8m5s
@@ -811,7 +813,7 @@ def run_tests(steps):
     return passed
 
 
-vehicle_list = ['Sub', 'Copter', 'Plane', 'Tracker', 'Rover', 'QuadPlane', 'BalanceBot', 'Helicopter', 'Sailboat']
+vehicle_list = ['Sub', 'Copter', 'Plane', 'Tracker', 'Rover', 'QuadPlane', 'BalanceBot', 'Helicopter', 'Sailboat', 'Blimp']
 
 
 def list_subtests():
@@ -1124,6 +1126,7 @@ if __name__ == "__main__":
 
         'build.Blimp',
         'defaults.Blimp',
+        'test.Blimp',
 
         'build.SITLPeriphGPS',
         'test.CAN',

Tools/autotest/blimp.py

@@ -0,0 +1,131 @@
+'''
+Fly Blimp in SITL
+
+AP_FLAKE8_CLEAN
+'''
+
+from __future__ import print_function
+import os
+import shutil
+
+from pymavlink import mavutil
+
+from common import AutoTest
+
+# get location of scripts
+testdir = os.path.dirname(os.path.realpath(__file__))
+SITL_START_LOCATION = mavutil.location(-35.362938, 149.165085, 584, 270)
+
+# Flight mode switch positions are set-up in arducopter.param to be
+#   switch 1 = Circle
+#   switch 2 = Land
+#   switch 3 = RTL
+#   switch 4 = Auto
+#   switch 5 = Loiter
+#   switch 6 = Stabilize
+
+
+class AutoTestBlimp(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 log_name(self):
+        return "Blimp"
+
+    def default_mode(self):
+        return "MANUAL"
+
+    def test_filepath(self):
+        return os.path.realpath(__file__)
+
+    def default_speedup(self):
+        return 100
+
+    def set_current_test_name(self, name):
+        self.current_test_name_directory = "Blimp_Tests/" + name + "/"
+
+    def sitl_start_location(self):
+        return SITL_START_LOCATION
+
+    def sitl_streamrate(self):
+        return 5
+
+    def vehicleinfo_key(self):
+        return 'Blimp'
+
+    def default_frame(self):
+        return "Blimp"
+
+    def apply_defaultfile_parameters(self):
+        # Blimp passes in a defaults_filepath in place of applying
+        # parameters afterwards.
+        pass
+
+    def defaults_filepath(self):
+        return self.model_defaults_filepath(self.frame)
+
+    def wait_disarmed_default_wait_time(self):
+        return 120
+
+    def close(self):
+        super(AutoTestBlimp, self).close()
+
+        # [2014/05/07] FC Because I'm doing a cross machine build
+        # (source is on host, build is on guest VM) I cannot hard link
+        # This flag tells me that I need to copy the data out
+        if self.copy_tlog:
+            shutil.copy(self.logfile, self.buildlog)
+
+    def is_blimp(self):
+        return True
+
+    def get_stick_arming_channel(self):
+        return int(self.get_parameter("RCMAP_YAW"))
+
+    def get_disarm_delay(self):
+        return int(self.get_parameter("DISARM_DELAY"))
+
+    def set_autodisarm_delay(self, delay):
+        self.set_parameter("DISARM_DELAY", delay)
+
+    def Speed(self):
+        '''test we can move'''
+        self.change_mode('MANUAL')
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
+        # make sure we don't drift:
+        start = self.mav.location()
+        self.set_rc(2, 2000)
+        self.wait_distance_to_location(start, 2, 10, timeout=40)
+        self.disarm_vehicle()
+
+    def tests(self):
+        '''return list of all tests'''
+        # ret = super(AutoTestBlimp, self).tests()
+        ret = []
+        ret.extend([
+            self.Speed,
+        ])
+        return ret
+
+    def disabled_tests(self):
+        return {
+        }

Tools/autotest/common.py

@@ -10005,10 +10005,11 @@ Also, ignores heartbeats not from our target system'''
         '''
         if mission_type == mavutil.mavlink.MAV_MISSION_TYPE_ALL:
             # recurse
-            if not self.is_tracker() and not self.is_plane():
+            if not self.is_tracker() and not self.is_blimp():
                 self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
-            self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
-            if not self.is_sub() and not self.is_tracker():
+            if not self.is_blimp():
+                self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
+            if not self.is_sub() and not self.is_tracker() and not self.is_blimp():
                 self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
             self.last_wp_load = time.time()
             return
@@ -10958,6 +10959,9 @@ Also, ignores heartbeats not from our target system'''
         self.do_RTL(distance_min=0, distance_max=wp_accuracy)
         self.disarm_vehicle()
 
+    def is_blimp(self):
+        return False
+
     def is_copter(self):
         return False