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https://github.com/ArduPilot/ardupilot
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AutoTest: fix to copter missions
Missions were not completing successfully because they were waiting for the current waypoint number to be 1 higher than was possible
This commit is contained in:
Randy Mackay
parent
db043744a4
commit
f54d8b02eb
@ -74,7 +74,7 @@ def takeoff(mavproxy, mav, alt_min = 30, takeoff_throttle=1700):
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return True
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# loiter - fly south west, then hold loiter within 5m position and altitude
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def loiter(mavproxy, mav, holdtime=15, maxaltchange=5, maxdistchange=5):
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def loiter(mavproxy, mav, holdtime=10, maxaltchange=5, maxdistchange=5):
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'''hold loiter position'''
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mavproxy.send('switch 5\n') # loiter mode
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wait_mode(mav, 'LOITER')
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@ -572,8 +572,8 @@ def fly_gps_glitch_auto_test(mavproxy, mav, timeout=30, max_distance=100):
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# record position for 30 seconds
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while glitch_current < glitch_num:
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time_in_sec = int(time.time() - tstart);
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if time_in_sec > glitch_current and glitch_current != -1:
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glitch_current = time_in_sec
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if (time_in_sec * 2) > glitch_current and glitch_current != -1:
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glitch_current = (time_in_sec * 2)
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# apply next glitch
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if glitch_current < glitch_num:
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mavproxy.send('param set SIM_GPS_GLITCH_X %.7f\n' % glitch_lat[glitch_current])
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@ -584,7 +584,17 @@ def fly_gps_glitch_auto_test(mavproxy, mav, timeout=30, max_distance=100):
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mavproxy.send('param set SIM_GPS_GLITCH_Y 0\n')
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# continue with the mission
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ret = wait_waypoint(mav, 0, num_wp, timeout=500, mode='AUTO')
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ret = wait_waypoint(mav, 0, num_wp-1, timeout=500, mode='AUTO')
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# wait for arrival back home
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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pos = mav.location()
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dist_to_home = get_distance(HOME, pos)
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while dist_to_home > 5:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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pos = mav.location()
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dist_to_home = get_distance(HOME, pos)
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print("Dist from home: %u" % dist_to_home)
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# turn off simulator display of gps and actual position
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show_gps_and_sim_positions(mavproxy, False)
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@ -740,6 +750,45 @@ def fly_circle(mavproxy, mav, maxaltchange=10, holdtime=36):
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print("CIRCLE OK for %u seconds" % holdtime)
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return True
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# fly_auto_test - fly mission which tests a significant number of commands
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def fly_auto_test(mavproxy, mav):
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# Fly mission #1
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print("# Upload copter_glitch_mission")
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if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_mission.txt")):
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print("upload copter_mission.txt failed")
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return False
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# this grabs our mission count
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if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_mission.txt")):
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print("load copter_mission failed")
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return False
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# load the waypoint count
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global homeloc
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global num_wp
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print("test: Fly a mission from 1 to %u" % num_wp)
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mavproxy.send('wp set 1\n')
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# switch into AUTO mode and raise throttle
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mavproxy.send('switch 4\n') # auto mode
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wait_mode(mav, 'AUTO')
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mavproxy.send('rc 3 1500\n')
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# fly the mission
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ret = wait_waypoint(mav, 0, num_wp-1, timeout=500, mode='AUTO')
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# set throttle to minimum
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mavproxy.send('rc 3 1000\n')
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# wait for disarm
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mav.motors_disarmed_wait()
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print("MOTORS DISARMED OK")
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print("Auto mission completed: passed=%s" % ret)
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return ret
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def land(mavproxy, mav, timeout=60):
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'''land the quad'''
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print("STARTING LANDING")
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@ -1005,9 +1054,9 @@ def fly_ArduCopter(viewerip=None, map=False):
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print("takeoff failed")
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failed = True
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# Loiter for 15 seconds
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# Loiter for 10 seconds
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print("#")
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print("########## Test Loiter for 15 seconds ##########")
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print("########## Test Loiter for 10 seconds ##########")
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print("#")
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if not loiter(mavproxy, mav):
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print("loiter failed")
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@ -1015,9 +1064,9 @@ def fly_ArduCopter(viewerip=None, map=False):
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# Loiter Climb
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print("#")
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print("# Loiter - climb to 40m")
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print("# Loiter - climb to 30m")
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print("#")
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if not change_alt(mavproxy, mav, 40):
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if not change_alt(mavproxy, mav, 30):
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print("change_alt failed")
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failed = True
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@ -1099,30 +1148,12 @@ def fly_ArduCopter(viewerip=None, map=False):
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print("RTL failed")
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failed = True
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# Fly mission #1
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print("# Upload copter_mission")
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if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_mission.txt")):
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print("upload_mission_from_file failed")
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failed = True
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# this grabs our mission count
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print("# store copter_mission locally")
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if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_mission.txt")):
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print("load_mission_from_file failed")
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failed = True
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print("# Fly mission 1")
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if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
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print("# Fly copter mission")
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if not fly_auto_test(mavproxy, mav):
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print("fly_mission failed")
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failed = True
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else:
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print("Flew mission 1 OK")
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#mission includes LAND at end so should be ok to disamr
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print("# disarm motors")
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if not disarm_motors(mavproxy, mav):
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print("disarm_motors failed")
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failed = True
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print("Flew copter mission OK")
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if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/ArduCopter-log.bin")):
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print("Failed log download")
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