mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
AutoTest: reorganise copter tests
This commit is contained in:
Randy Mackay
parent
44b0c790f3
commit
f14284e7a0
@ -14,7 +14,7 @@ HOME=mavutil.location(-35.362938,149.165085,584,270)
|
||||
homeloc = None
|
||||
num_wp = 0
|
||||
|
||||
def hover(mavproxy, mav, hover_throttle=1300):
|
||||
def hover(mavproxy, mav, hover_throttle=1450):
|
||||
mavproxy.send('rc 3 %u\n' % hover_throttle)
|
||||
return True
|
||||
|
||||
@ -49,7 +49,7 @@ def disarm_motors(mavproxy, mav):
|
||||
return True
|
||||
|
||||
|
||||
def takeoff(mavproxy, mav, alt_min = 30, takeoff_throttle=1510):
|
||||
def takeoff(mavproxy, mav, alt_min = 30, takeoff_throttle=1700):
|
||||
'''takeoff get to 30m altitude'''
|
||||
mavproxy.send('switch 6\n') # stabilize mode
|
||||
wait_mode(mav, 'STABILIZE')
|
||||
@ -61,10 +61,29 @@ def takeoff(mavproxy, mav, alt_min = 30, takeoff_throttle=1510):
|
||||
print("TAKEOFF COMPLETE")
|
||||
return True
|
||||
|
||||
def loiter(mavproxy, mav, holdtime=60, maxaltchange=20):
|
||||
# loiter - fly south west, then hold loiter within 5m position and altitude
|
||||
def loiter(mavproxy, mav, holdtime=30, maxaltchange=5, maxdistchange=5):
|
||||
'''hold loiter position'''
|
||||
mavproxy.send('switch 5\n') # loiter mode
|
||||
wait_mode(mav, 'LOITER')
|
||||
|
||||
# first aim south east
|
||||
print("turn south east")
|
||||
mavproxy.send('rc 4 1580\n')
|
||||
if not wait_heading(mav, 170):
|
||||
return False
|
||||
mavproxy.send('rc 4 1500\n')
|
||||
|
||||
#fly south east 50m
|
||||
mavproxy.send('rc 2 1100\n')
|
||||
if not wait_distance(mav, 50):
|
||||
return False
|
||||
mavproxy.send('rc 2 1500\n')
|
||||
|
||||
# wait for copter to slow moving
|
||||
if not wait_groundspeed(mav, 0, 2):
|
||||
return False
|
||||
|
||||
m = mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
start_altitude = m.alt
|
||||
start = mav.location()
|
||||
@ -77,7 +96,9 @@ def loiter(mavproxy, mav, holdtime=60, maxaltchange=20):
|
||||
delta = get_distance(start, pos)
|
||||
print("Loiter Dist: %.2fm, alt:%u" % (delta, m.alt))
|
||||
if math.fabs(m.alt - start_altitude) > maxaltchange:
|
||||
tholdstart = time.time()
|
||||
tholdstart = time.time() # this will cause this test to timeout and fails
|
||||
if delta > maxdistchange:
|
||||
tholdstart = time.time() # this will cause this test to timeout and fails
|
||||
if time.time() - tholdstart > holdtime:
|
||||
print("Loiter OK for %u seconds" % holdtime)
|
||||
return True
|
||||
@ -98,101 +119,127 @@ def change_alt(mavproxy, mav, alt_min, climb_throttle=1920, descend_throttle=108
|
||||
hover(mavproxy, mav)
|
||||
return True
|
||||
|
||||
|
||||
# fly a square in stabilize mode
|
||||
def fly_square(mavproxy, mav, side=50, timeout=120):
|
||||
'''fly a square, flying N then E'''
|
||||
mavproxy.send('switch 6\n')
|
||||
wait_mode(mav, 'STABILIZE')
|
||||
tstart = time.time()
|
||||
failed = False
|
||||
|
||||
print("Save WP 1 and 2")
|
||||
save_wp(mavproxy, mav)
|
||||
|
||||
print("turn")
|
||||
hover(mavproxy, mav)
|
||||
mavproxy.send('rc 4 1550\n')
|
||||
if not wait_heading(mav, 0):
|
||||
return False
|
||||
# ensure all sticks in the middle
|
||||
mavproxy.send('rc 1 1500\n')
|
||||
mavproxy.send('rc 2 1500\n')
|
||||
mavproxy.send('rc 3 1500\n')
|
||||
mavproxy.send('rc 4 1500\n')
|
||||
|
||||
# switch to loiter mode temporarily to stop us from rising
|
||||
mavproxy.send('switch 5\n')
|
||||
wait_mode(mav, 'LOITER')
|
||||
|
||||
# first aim north
|
||||
print("turn right towards north")
|
||||
mavproxy.send('rc 4 1580\n')
|
||||
if not wait_heading(mav, 10):
|
||||
return False
|
||||
mavproxy.send('rc 4 1500\n')
|
||||
mav.recv_match(condition='RC_CHANNELS_RAW.chan4_raw==1500', blocking=True)
|
||||
|
||||
# save bottom left corner of box as waypoint
|
||||
print("Save WP 1 & 2")
|
||||
save_wp(mavproxy, mav)
|
||||
|
||||
# switch back to stabilize mode
|
||||
mavproxy.send('rc 3 1400\n')
|
||||
mavproxy.send('switch 6\n')
|
||||
wait_mode(mav, 'STABILIZE')
|
||||
|
||||
# pitch forward to fly north
|
||||
print("Going north %u meters" % side)
|
||||
mavproxy.send('rc 2 1390\n')
|
||||
mavproxy.send('rc 2 1300\n')
|
||||
if not wait_distance(mav, side):
|
||||
failed = True
|
||||
mavproxy.send('rc 2 1500\n')
|
||||
|
||||
# save top left corner of square as waypoint
|
||||
print("Save WP 3")
|
||||
save_wp(mavproxy, mav)
|
||||
|
||||
# roll right to fly east
|
||||
print("Going east %u meters" % side)
|
||||
mavproxy.send('rc 1 1700\n')
|
||||
if not wait_distance(mav, side):
|
||||
failed = True
|
||||
mavproxy.send('rc 1 1500\n')
|
||||
|
||||
# save top right corner of square as waypoint
|
||||
print("Save WP 4")
|
||||
save_wp(mavproxy, mav)
|
||||
|
||||
# pitch back to fly south
|
||||
print("Going south %u meters" % side)
|
||||
mavproxy.send('rc 2 1700\n')
|
||||
if not wait_distance(mav, side):
|
||||
failed = True
|
||||
mavproxy.send('rc 2 1500\n')
|
||||
mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==1000', blocking=True)
|
||||
|
||||
# save bottom right corner of square as waypoint
|
||||
print("Save WP 5")
|
||||
save_wp(mavproxy, mav)
|
||||
|
||||
# roll left to fly west
|
||||
print("Going west %u meters" % side)
|
||||
mavproxy.send('rc 1 1390\n')
|
||||
mavproxy.send('rc 1 1300\n')
|
||||
if not wait_distance(mav, side):
|
||||
failed = True
|
||||
mavproxy.send('rc 1 1500\n')
|
||||
|
||||
# save bottom left corner of square (should be near home) as waypoint
|
||||
print("Save WP 6")
|
||||
save_wp(mavproxy, mav)
|
||||
|
||||
return not failed
|
||||
|
||||
def fly_RTL(mavproxy, mav, side=60, timeout=250):
|
||||
'''Fly, return, land'''
|
||||
mavproxy.send('switch 6\n')
|
||||
wait_mode(mav, 'STABILIZE')
|
||||
hover(mavproxy, mav)
|
||||
failed = False
|
||||
|
||||
print("# Going forward %u meters" % side)
|
||||
mavproxy.send('rc 2 1350\n')
|
||||
if not wait_distance(mav, side, 5, 60):
|
||||
failed = True
|
||||
mavproxy.send('rc 2 1500\n')
|
||||
|
||||
'''Return, land'''
|
||||
print("# Enter RTL")
|
||||
mavproxy.send('switch 3\n')
|
||||
tstart = time.time()
|
||||
while time.time() < tstart + timeout:
|
||||
m = mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
pos = mav.location()
|
||||
#delta = get_distance(start, pos)
|
||||
print("Alt: %u" % m.alt)
|
||||
if(m.alt <= 1):
|
||||
home_distance = get_distance(HOME, pos)
|
||||
print("Alt: %u HomeDistance: %.0f" % (m.alt, home_distance))
|
||||
if(m.alt <= 1 and home_distance < 10):
|
||||
return True
|
||||
return True
|
||||
return False
|
||||
|
||||
def fly_failsafe(mavproxy, mav, side=60, timeout=180):
|
||||
'''Fly, Failsafe, return, land'''
|
||||
def fly_throttle_failsafe(mavproxy, mav, side=60, timeout=180):
|
||||
'''Fly east, Failsafe, return, land'''
|
||||
|
||||
# switch to loiter mode temporarily to stop us from rising
|
||||
mavproxy.send('switch 5\n')
|
||||
wait_mode(mav, 'LOITER')
|
||||
|
||||
# first aim east
|
||||
print("turn east")
|
||||
mavproxy.send('rc 4 1580\n')
|
||||
if not wait_heading(mav, 135):
|
||||
return False
|
||||
mavproxy.send('rc 4 1500\n')
|
||||
|
||||
# switch to stabilize mode
|
||||
mavproxy.send('switch 6\n')
|
||||
wait_mode(mav, 'STABILIZE')
|
||||
hover(mavproxy, mav)
|
||||
failed = False
|
||||
|
||||
# fly east 60 meters
|
||||
print("# Going forward %u meters" % side)
|
||||
mavproxy.send('rc 2 1350\n')
|
||||
if not wait_distance(mav, side, 5, 60):
|
||||
failed = True
|
||||
mavproxy.send('rc 2 1500\n')
|
||||
|
||||
# pull throttle low
|
||||
print("# Enter Failsafe")
|
||||
mavproxy.send('rc 3 900\n')
|
||||
tstart = time.time()
|
||||
@ -216,44 +263,63 @@ def fly_failsafe(mavproxy, mav, side=60, timeout=180):
|
||||
mavproxy.send('switch 6\n')
|
||||
return False
|
||||
|
||||
#fly_simple - assumes the simple bearing is initialised to be directly north
|
||||
# flies a box with 100m west, 15 seconds north, 50 seconds east, 15 seconds south
|
||||
def fly_simple(mavproxy, mav, side=100, timeout=120):
|
||||
|
||||
#set SIMPLE mode
|
||||
mavproxy.send('param set SIMPLE 63\n')
|
||||
|
||||
def fly_simple(mavproxy, mav, side=60, timeout=120):
|
||||
'''fly Simple, flying N then E'''
|
||||
mavproxy.send('switch 6\n')
|
||||
wait_mode(mav, 'STABILIZE')
|
||||
mavproxy.send('rc 3 1350\n')
|
||||
mavproxy.send('rc 3 1400\n')
|
||||
|
||||
tstart = time.time()
|
||||
failed = False
|
||||
|
||||
print("# Going forward %u meters" % side)
|
||||
mavproxy.send('rc 2 1390\n')
|
||||
if not wait_distance(mav, side, 10, 60):
|
||||
# fly west 100m
|
||||
print("# Flying west %u meters" % side)
|
||||
mavproxy.send('rc 1 1300\n')
|
||||
if not wait_distance(mav, side, 5, 60):
|
||||
failed = True
|
||||
mavproxy.send('rc 2 1500\n')
|
||||
mavproxy.send('rc 1 1500\n')
|
||||
|
||||
print("# Going east for 30 seconds")
|
||||
mavproxy.send('rc 1 1700\n')
|
||||
# fly north 15 seconds
|
||||
print("# Flying north for 15 seconds")
|
||||
mavproxy.send('rc 2 1300\n')
|
||||
tstart = time.time()
|
||||
while time.time() < (tstart + 30):
|
||||
while time.time() < (tstart + 15):
|
||||
m = mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
delta = (time.time() - tstart)
|
||||
#print("%u" % delta)
|
||||
mavproxy.send('rc 2 1500\n')
|
||||
|
||||
# fly east 50 meters
|
||||
print("# Flying east %u meters" % (side/2.0))
|
||||
mavproxy.send('rc 1 1700\n')
|
||||
if not wait_distance(mav, side/2, 5, 60):
|
||||
failed = True
|
||||
mavproxy.send('rc 1 1500\n')
|
||||
|
||||
print("# Going back %u meters" % side)
|
||||
# fly south 15 seconds
|
||||
print("# Flying south for 15 seconds")
|
||||
mavproxy.send('rc 2 1700\n')
|
||||
if not wait_distance(mav, side, 10, 60):
|
||||
failed = True
|
||||
tstart = time.time()
|
||||
while time.time() < (tstart + 15):
|
||||
m = mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
delta = (time.time() - tstart)
|
||||
#print("%u" % delta)
|
||||
mavproxy.send('rc 2 1500\n')
|
||||
|
||||
#restore to default
|
||||
mavproxy.send('param set SIMPLE 0\n')
|
||||
|
||||
#hover in place
|
||||
hover(mavproxy, mav)
|
||||
return not failed
|
||||
|
||||
|
||||
|
||||
|
||||
def land(mavproxy, mav, timeout=60):
|
||||
'''land the quad'''
|
||||
print("STARTING LANDING")
|
||||
@ -421,6 +487,7 @@ def fly_ArduCopter(viewerip=None, map=False):
|
||||
print("calibrate_level failed")
|
||||
failed = True
|
||||
|
||||
# Arm
|
||||
print("# Arm motors")
|
||||
if not arm_motors(mavproxy, mav):
|
||||
print("arm_motors failed")
|
||||
@ -430,50 +497,11 @@ def fly_ArduCopter(viewerip=None, map=False):
|
||||
if not takeoff(mavproxy, mav, 10):
|
||||
print("takeoff failed")
|
||||
failed = True
|
||||
|
||||
print("# Test RTL")
|
||||
if not fly_RTL(mavproxy, mav):
|
||||
print("RTL failed")
|
||||
failed = True
|
||||
|
||||
print("# Takeoff")
|
||||
if not takeoff(mavproxy, mav, 10):
|
||||
print("takeoff failed")
|
||||
failed = True
|
||||
|
||||
print("# Test Failsafe")
|
||||
if not fly_failsafe(mavproxy, mav):
|
||||
print("FS failed")
|
||||
failed = True
|
||||
|
||||
print("# Takeoff")
|
||||
if not takeoff(mavproxy, mav, 10):
|
||||
print("takeoff failed")
|
||||
failed = True
|
||||
|
||||
# Loiter for 30 seconds
|
||||
print("# Loiter for 45 seconds")
|
||||
if not loiter(mavproxy, mav, 45):
|
||||
print("loiter failed")
|
||||
failed = True
|
||||
|
||||
print("# Change alt to 60m")
|
||||
if not change_alt(mavproxy, mav, 60):
|
||||
print("change_alt failed")
|
||||
failed = True
|
||||
|
||||
print("# Change alt to 20m")
|
||||
if not change_alt(mavproxy, mav, 20):
|
||||
print("change_alt failed")
|
||||
failed = True
|
||||
|
||||
print("# Change alt to 20m")
|
||||
if not change_alt(mavproxy, mav, 20):
|
||||
print("change_alt failed")
|
||||
failed = True
|
||||
|
||||
|
||||
print("# Fly A square")
|
||||
|
||||
# Fly a square in Stabilize mode
|
||||
print("#")
|
||||
print("########## Fly A square and save WPs with CH7 switch ##########")
|
||||
print("#")
|
||||
if not fly_square(mavproxy, mav):
|
||||
print("fly_square failed")
|
||||
failed = True
|
||||
@ -485,59 +513,115 @@ def fly_ArduCopter(viewerip=None, map=False):
|
||||
|
||||
print("Save landing WP")
|
||||
save_wp(mavproxy, mav)
|
||||
mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==1000', blocking=True)
|
||||
|
||||
# save the stored mission
|
||||
print("# Save out the C7 mission")
|
||||
# save the stored mission to file
|
||||
print("# Save out the CH7 mission to file")
|
||||
if not save_mission_to_file(mavproxy, mav, os.path.join(testdir, "ch7_mission.txt")):
|
||||
print("save_mission_to_file failed")
|
||||
failed = True
|
||||
|
||||
# save the stored mission
|
||||
print("# Fly CH 7 saved mission")
|
||||
# fly the stored mission
|
||||
print("# Fly CH7 saved mission")
|
||||
if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
|
||||
print("fly_mission failed")
|
||||
failed = True
|
||||
|
||||
#set SIMPLE mode
|
||||
mavproxy.send('param set SIMPLE 63\n')
|
||||
# Throttle Failsafe
|
||||
print("#")
|
||||
print("########## Test Failsafe ##########")
|
||||
print("#")
|
||||
if not fly_throttle_failsafe(mavproxy, mav):
|
||||
print("FS failed")
|
||||
failed = True
|
||||
|
||||
# Takeoff
|
||||
print("# Takeoff")
|
||||
if not takeoff(mavproxy, mav, 10):
|
||||
print("takeoff failed")
|
||||
failed = True
|
||||
|
||||
# Loiter for 30 seconds
|
||||
print("#")
|
||||
print("########## Test Loiter for 40 seconds ##########")
|
||||
print("#")
|
||||
if not loiter(mavproxy, mav, 30):
|
||||
print("loiter failed")
|
||||
failed = True
|
||||
|
||||
# Loiter Climb
|
||||
print("#")
|
||||
print("# Loiter - climb to 60m")
|
||||
print("#")
|
||||
if not change_alt(mavproxy, mav, 60):
|
||||
print("change_alt failed")
|
||||
failed = True
|
||||
|
||||
# Loiter Descend
|
||||
print("#")
|
||||
print("# Loiter - descend to 20m")
|
||||
print("#")
|
||||
if not change_alt(mavproxy, mav, 20):
|
||||
print("change_alt failed")
|
||||
failed = True
|
||||
|
||||
if not takeoff(mavproxy, mav, 10):
|
||||
print("takeoff failed")
|
||||
failed = True
|
||||
|
||||
# RTL
|
||||
print("#")
|
||||
print("########## Test RTL ##########")
|
||||
print("#")
|
||||
if not fly_RTL(mavproxy, mav):
|
||||
print("RTL failed")
|
||||
failed = True
|
||||
|
||||
# Takeoff
|
||||
print("# Takeoff")
|
||||
if not takeoff(mavproxy, mav, 10):
|
||||
print("takeoff failed")
|
||||
failed = True
|
||||
|
||||
# Simple mode
|
||||
print("# Fly in SIMPLE mode")
|
||||
if not fly_simple(mavproxy, mav):
|
||||
print("fly_simple failed")
|
||||
failed = True
|
||||
|
||||
# RTL
|
||||
print("#")
|
||||
print("########## Test RTL ##########")
|
||||
print("#")
|
||||
if not fly_RTL(mavproxy, mav):
|
||||
print("RTL failed")
|
||||
failed = True
|
||||
|
||||
# Fly mission #1
|
||||
print("# Upload mission1")
|
||||
if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission2.txt")):
|
||||
if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission1.txt")):
|
||||
print("upload_mission_from_file failed")
|
||||
failed = True
|
||||
|
||||
# this grabs our mission count
|
||||
print("# store mission1 locally")
|
||||
if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission2.txt")):
|
||||
if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission1.txt")):
|
||||
print("load_mission_from_file failed")
|
||||
failed = True
|
||||
|
||||
print("# Fly mission 2")
|
||||
print("# Fly mission 1")
|
||||
if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
|
||||
print("fly_mission failed")
|
||||
failed = True
|
||||
else:
|
||||
print("Flew mission2 OK")
|
||||
print("Flew mission 1 OK")
|
||||
|
||||
print("# Land")
|
||||
if not land(mavproxy, mav):
|
||||
print("land failed")
|
||||
#mission includes LAND at end so should be ok to disamr
|
||||
print("# disarm motors")
|
||||
if not disarm_motors(mavproxy, mav):
|
||||
print("disarm_motors failed")
|
||||
failed = True
|
||||
|
||||
#print("# disarm motors")
|
||||
#if not disarm_motors(mavproxy, mav):
|
||||
# print("disarm_motors failed")
|
||||
# failed = True
|
||||
except pexpect.TIMEOUT, e:
|
||||
failed = True
|
||||
|
||||
@ -554,7 +638,3 @@ def fly_ArduCopter(viewerip=None, map=False):
|
||||
print("FAILED: %s" % e)
|
||||
return False
|
||||
return True
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@ -1,11 +1,16 @@
|
||||
QGC WPL 110
|
||||
0 1 3 0 0.000000 0.000000 0.000000 0.000000 -35.362881 149.165222 582.000000 1
|
||||
1 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.362324 149.164291 120.000000 1
|
||||
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363670 149.164505 120.000000 1
|
||||
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.362358 149.163651 120.000000 1
|
||||
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363777 149.163895 120.000000 1
|
||||
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.362411 149.163071 120.000000 1
|
||||
6 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363865 149.163223 120.000000 1
|
||||
7 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.362431 149.162384 120.000000 1
|
||||
8 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363968 149.162567 120.000000 1
|
||||
9 0 3 20 0.000000 0.000000 0.000000 0.000000 -35.363228 149.161896 30.000000 1
|
||||
0 1 0 16 0 0 0 0 -35.362881 149.165222 582.000000 1
|
||||
1 0 3 22 0.000000 0.000000 0.000000 0.000000 -35.362881 149.165222 20.000000 1
|
||||
2 0 3 16 0.000000 3.000000 0.000000 0.000000 -35.364652 149.163501 20.000000 1
|
||||
3 0 3 115 640.000000 20.000000 1.000000 1.000000 0.000000 0.000000 0.000000 1
|
||||
4 0 3 19 35.000000 0.000000 0.000000 1.000000 0.000000 0.000000 20.000000 1
|
||||
5 0 3 16 0.000000 3.000000 0.000000 0.000000 -35.365361 149.163501 20.000000 1
|
||||
6 0 3 16 1.000000 0.000000 0.000000 0.000000 -35.365361 149.163995 40.000000 1
|
||||
7 0 3 16 0.000000 3.000000 0.000000 0.000000 -35.365361 149.164563 20.000000 1
|
||||
8 0 3 114 100.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
|
||||
9 0 3 113 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 40.000000 1
|
||||
10 0 3 16 0.000000 3.000000 0.000000 0.000000 -35.364652 149.164531 20.000000 1
|
||||
11 0 3 16 0.000000 3.000000 0.000000 0.000000 -35.364652 149.163995 20.000000 1
|
||||
12 0 3 177 11.000000 3.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
|
||||
13 0 3 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 20.000000 1
|
||||
14 0 3 21 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
|
||||
|
||||
Loading…
Reference in New Issue
Block a user