mirror of https://github.com/ArduPilot/ardupilot
autotest: use internal copter sim for autotest
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parent
d5b51f2129
commit
fe536a4b89
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@ -104,9 +104,6 @@ def drive_APMrover2(viewerip=None, map=False):
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logfile = mavproxy.match.group(1)
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print("LOGFILE %s" % logfile)
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sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_wrapper.py') + ' --frame=rover --rate=200 --speedup=100 --home=%f,%f,%u,%u' % (
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HOME.lat, HOME.lng, HOME.alt, HOME.heading)
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buildlog = util.reltopdir("../buildlogs/APMrover2-test.tlog")
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print("buildlog=%s" % buildlog)
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if os.path.exists(buildlog):
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@ -1271,7 +1271,7 @@ def fly_CopterAVC(viewerip=None, map=False):
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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sil = util.start_SIL('ArduCopter', height=HOME.alt)
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sil = util.start_SIL('ArduCopter', height=HOME.alt, model='+', home=home, speedup=10)
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options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
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if viewerip:
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options += ' --out=%s:14550' % viewerip
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@ -22,15 +22,10 @@ def get_default_params(atype):
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if atype in ['APMrover2', 'ArduPlane']:
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frame = 'rover'
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else:
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frame = 'quad'
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sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_wrapper.py') + ' --frame=%s --rate=400 --speedup=10 --home=%f,%f,%u,%u' % (
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frame, HOME.lat, HOME.lng, HOME.alt, HOME.heading)
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frame = '+'
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runsim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
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runsim.delaybeforesend = 0
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runsim.expect('Starting at lat')
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sil = util.start_SIL(atype, wipe=True)
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home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
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sil = util.start_SIL(atype, wipe=True, model=frame, home=home, speedup=10)
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mavproxy = util.start_MAVProxy_SIL(atype)
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print("Dumping defaults")
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idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
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@ -38,7 +33,7 @@ def get_default_params(atype):
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# we need to restart it after eeprom erase
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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sil = util.start_SIL(atype)
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sil = util.start_SIL(atype, model=frame, home=home, speedup=10)
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mavproxy = util.start_MAVProxy_SIL(atype)
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idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
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parmfile = mavproxy.match.group(1)
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@ -46,7 +41,6 @@ def get_default_params(atype):
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shutil.copy(parmfile, dest)
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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util.pexpect_close(runsim)
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print("Saved defaults for %s to %s" % (atype, dest))
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return True
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