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autotest: add test for Plane MAV_CMD_DO_VTOL_TRANSITION mission item

This commit is contained in:
Peter Barker 2023-09-12 12:15:56 +10:00 committed by Peter Barker
parent 63136e9060
commit f2f7f7de3b
4 changed files with 102 additions and 34 deletions
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6
Tools/autotest/Generic_Missions/QuadPlaneDalbyRTL.txt Normal file
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@ -0,0 +1,6 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -27.274439 151.290064 343.209991 1
1 0 3 189 0.000000 0.000000 0.000000 0.000000 -27.270617 151.283268 28.590000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -27.272859 151.286018 28.789999 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -27.273316 151.288023 30.000000 1
4 0 3 85 0.000000 0.000000 0.000000 0.000000 -27.273771 151.289905 0.000000 1

71
Tools/autotest/common.py
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@ -3731,6 +3731,13 @@ class AutoTest(ABC):
self.set_rc(ch, 1000)
self.delay_sim_time(1)
def correct_wp_seq_numbers(self, wps):
# renumber the items:
count = 0
for item in wps:
item.seq = count
count += 1
def create_simple_relhome_mission(self, items_in, target_system=1, target_component=1):
'''takes a list of (type, n, e, alt) items. Creates a mission in
absolute frame using alt as relative-to-home and n and e as
@ -3741,34 +3748,24 @@ class AutoTest(ABC):
items.extend(items_in)
seq = 0
ret = []
for (t, n, e, alt) in items:
for item in items:
if not isinstance(item, tuple):
# hope this is a mission item...
item.seq = seq
seq += 1
ret.append(item)
continue
(t, n, e, alt) = item
lat = 0
lng = 0
if n != 0 or e != 0:
loc = self.home_relative_loc_ne(n, e)
lat = loc.lat
lng = loc.lng
p1 = 0
frame = mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT
if not self.ardupilot_stores_frame_for_cmd(t):
frame = mavutil.mavlink.MAV_FRAME_GLOBAL
ret.append(self.mav.mav.mission_item_int_encode(
target_system,
target_component,
seq, # seq
frame,
t,
0, # current
0, # autocontinue
p1, # p1
0, # p2
0, # p3
0, # p4
int(lat*1e7), # latitude
int(lng*1e7), # longitude
alt, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_MISSION),
)
ret.append(self.create_MISSION_ITEM_INT(t, seq=seq, frame=frame, x=int(lat*1e7), y=int(lng*1e7), z=alt))
seq += 1
return ret
@ -5635,6 +5632,42 @@ class AutoTest(ABC):
def sysid_thismav(self):
return 1
def create_MISSION_ITEM_INT(
self,
t,
p1=0,
p2=0,
p3=0,
p4=0,
x=0,
y=0,
z=0,
frame=mavutil.mavlink.MAV_FRAME_GLOBAL,
autocontinue=1,
current=0,
target_system=1,
target_component=1,
seq=0,
mission_type=mavutil.mavlink.MAV_MISSION_TYPE_MISSION,
):
return self.mav.mav.mission_item_int_encode(
target_system,
target_component,
seq, # seq
frame,
t,
0, # current
0, # autocontinue
p1, # p1
0, # p2
0, # p3
0, # p4
x, # latitude
y, # longitude
z, # altitude
mission_type
)
def run_cmd_int(self,
command,
p1=0,

12
Tools/autotest/helicopter.py
View File

@ -556,11 +556,7 @@ class AutoTestHelicopter(AutoTestCopter):
copy.copy(wp5_by_three),
self.mission_item_rtl(target_system=target_system, target_component=target_component),
])
# renumber the items:
count = 0
for item in ret:
item.seq = count
count += 1
self.correct_wp_seq_numbers(ret)
return ret
def scurve_nasty_up_mission(self, target_system=1, target_component=1):
@ -633,11 +629,7 @@ class AutoTestHelicopter(AutoTestCopter):
wp7,
self.mission_item_rtl(target_system=target_system, target_component=target_component),
])
# renumber the items:
count = 0
for item in ret:
item.seq = count
count += 1
self.correct_wp_seq_numbers(ret)
return ret
def fly_mission_points(self, points):

47
Tools/autotest/quadplane.py
View File

@ -416,13 +416,19 @@ class AutoTestQuadPlane(AutoTest):
self.zero_throttle()
def fly_home_land_and_disarm(self, timeout=30):
self.set_parameter("LAND_TYPE", 0)
filename = "flaps.txt"
self.change_mode('LOITER')
self.set_parameter('RTL_AUTOLAND', 1)
filename = "QuadPlaneDalbyRTL.txt"
self.progress("Using %s to fly home" % filename)
self.load_mission(filename)
self.change_mode("AUTO")
self.set_current_waypoint(7)
self.load_generic_mission(filename)
self.change_mode("RTL")
self.wait_current_waypoint(4)
self.wait_statustext('Land descend started')
self.wait_statustext('Land final started', timeout=60)
self.wait_disarmed(timeout=timeout)
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
# the following command is accepted, but doesn't actually
# work! Should be able to remove check_afterwards!
self.set_current_waypoint(0, check_afterwards=False)
def wait_level_flight(self, accuracy=5, timeout=30):
@ -1299,6 +1305,36 @@ class AutoTestQuadPlane(AutoTest):
self.context_pop()
self.reboot_sitl()
def mission_MAV_CMD_DO_VTOL_TRANSITION(self):
'''mission item forces transition'''
wps = self.create_simple_relhome_mission([
(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 30),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 200, 0, 30),
self.create_MISSION_ITEM_INT(
mavutil.mavlink.MAV_CMD_DO_VTOL_TRANSITION,
p1=mavutil.mavlink.MAV_VTOL_STATE_MC
),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 300, 200, 30),
self.create_MISSION_ITEM_INT(
mavutil.mavlink.MAV_CMD_DO_VTOL_TRANSITION,
p1=mavutil.mavlink.MAV_VTOL_STATE_FW
),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 100, 200, 30),
(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
])
self.check_mission_upload_download(wps)
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_current_waypoint(4)
self.wait_servo_channel_value(5, 1200, comparator=operator.gt)
self.wait_current_waypoint(6)
self.wait_servo_channel_value(5, 1000, comparator=operator.eq, timeout=90)
self.fly_home_land_and_disarm()
def tests(self):
'''return list of all tests'''
@ -1327,5 +1363,6 @@ class AutoTestQuadPlane(AutoTest):
self.VTOLLandSpiral,
self.VTOLQuicktune,
self.RCDisableAirspeedUse,
self.mission_MAV_CMD_DO_VTOL_TRANSITION,
])
return ret