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autotest: use internal copter sim for autotest

This commit is contained in:
Andrew Tridgell 2015-05-05 16:56:17 +10:00
parent d5b51f2129
commit fe536a4b89
3 changed files with 5 additions and 14 deletions
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3
Tools/autotest/apmrover2.py
View File

@ -104,9 +104,6 @@ def drive_APMrover2(viewerip=None, map=False):
logfile = mavproxy.match.group(1) logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile) print("LOGFILE %s" % logfile)
sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_wrapper.py') + ' --frame=rover --rate=200 --speedup=100 --home=%f,%f,%u,%u' % (
HOME.lat, HOME.lng, HOME.alt, HOME.heading)
buildlog = util.reltopdir("../buildlogs/APMrover2-test.tlog") buildlog = util.reltopdir("../buildlogs/APMrover2-test.tlog")
print("buildlog=%s" % buildlog) print("buildlog=%s" % buildlog)
if os.path.exists(buildlog): if os.path.exists(buildlog):

2
Tools/autotest/arducopter.py
View File

@ -1271,7 +1271,7 @@ def fly_CopterAVC(viewerip=None, map=False):
util.pexpect_close(mavproxy) util.pexpect_close(mavproxy)
util.pexpect_close(sil) util.pexpect_close(sil)
sil = util.start_SIL('ArduCopter', height=HOME.alt) sil = util.start_SIL('ArduCopter', height=HOME.alt, model='+', home=home, speedup=10)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5' options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip: if viewerip:
options += ' --out=%s:14550' % viewerip options += ' --out=%s:14550' % viewerip

14
Tools/autotest/autotest.py
View File

@ -22,15 +22,10 @@ def get_default_params(atype):
if atype in ['APMrover2', 'ArduPlane']: if atype in ['APMrover2', 'ArduPlane']:
frame = 'rover' frame = 'rover'
else: else:
frame = 'quad' frame = '+'
sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_wrapper.py') + ' --frame=%s --rate=400 --speedup=10 --home=%f,%f,%u,%u' % (
frame, HOME.lat, HOME.lng, HOME.alt, HOME.heading)
runsim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10) home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
runsim.delaybeforesend = 0 sil = util.start_SIL(atype, wipe=True, model=frame, home=home, speedup=10)
runsim.expect('Starting at lat')
sil = util.start_SIL(atype, wipe=True)
mavproxy = util.start_MAVProxy_SIL(atype) mavproxy = util.start_MAVProxy_SIL(atype)
print("Dumping defaults") print("Dumping defaults")
idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)']) idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
@ -38,7 +33,7 @@ def get_default_params(atype):
# we need to restart it after eeprom erase # we need to restart it after eeprom erase
util.pexpect_close(mavproxy) util.pexpect_close(mavproxy)
util.pexpect_close(sil) util.pexpect_close(sil)
sil = util.start_SIL(atype) sil = util.start_SIL(atype, model=frame, home=home, speedup=10)
mavproxy = util.start_MAVProxy_SIL(atype) mavproxy = util.start_MAVProxy_SIL(atype)
idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)') idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
parmfile = mavproxy.match.group(1) parmfile = mavproxy.match.group(1)
@ -46,7 +41,6 @@ def get_default_params(atype):
shutil.copy(parmfile, dest) shutil.copy(parmfile, dest)
util.pexpect_close(mavproxy) util.pexpect_close(mavproxy)
util.pexpect_close(sil) util.pexpect_close(sil)
util.pexpect_close(runsim)
print("Saved defaults for %s to %s" % (atype, dest)) print("Saved defaults for %s to %s" % (atype, dest))
return True return True