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276 Commits

Author SHA1 Message Date
Peter Barker
881eadb993 autotest: add Tools/mavproxy_modules to PYTHONPATH in autotest 
So we can find random MAVProxy helper modules like sitl_calibration
 2020-01-01 13:06:28 +11:00
Andrew Tridgell
061d778bfd SITL: improved AirSim quadX tuning 
and move params to normal location, so they are found with
sim_vehicle.py
 2019-12-17 15:40:00 +11:00
Peter Barker
fecca9a559 autotest: add tests for serial RangeFinder drivers 2019-12-03 09:07:09 +11:00
Willian Galvani
e190d99bc6 SITL: Add 6dof frame for Sub 2019-11-11 07:39:57 -08:00
Peter Barker
c5f52a8355 Tools: autotest: tests for new fence code 
Tools: autotest: move clear_mission up, use it before running each test

Also have it understand MAV_MISSION_TYPE_ALL

Tools: autotest: add tests for polyfence

Tools: autotest: add tests for multiple inclusion polyfences

Tools: autotest: ensure we can't arm inside a circle exclusion zone

Tools: autotest: add test for arming outside an inclusion zone

Tools: autotest: add tests for upload timeout

Tools: autotest: add tests for not arming due to polygon zones

Tools: autotest: add test for fence point reboot survivability

Tools: autotest: add test for moving fence point

Tools: autotest: add some tests via MAVProxy

Tools: autotest: add test for avoiding polygonal exclusion zones

Tools: autotest: add test for object avoidance

Currently disabled as it doesn't pass where it seemingly should.

Tools: autotest: skip MAVProxy tests on older MAVProxy versions

Tools: autotest: adjust fence loading for lack of string back from MAVProxy

Tools: autotest: create a do_RTL function

Tools: autotest: cope with loading QGC-style fence files

Tools: autotest: add test for object-avoidance in guided mode

Tools: autotest: add OA test for auto mode

Tools: autotest: add test for bendy ruler in guided mode

Tools: autotest: adjust for new MAVProxy fence module not emitting old strings

Tools: autotest: add tests for prearming due to bad parameter values
 2019-09-28 07:58:48 +09:00
Andy Piper
5f34ec6578 Tools: support lldb debugging for sim_vehicle and autotest 2019-09-26 09:02:11 +10:00
Peter Barker
03e317fed8 Tools: autotest: send SIGTERM to processes before killing them 
This allows coverage atexit functions to run
 2019-09-23 19:36:38 +10:00
Peter Barker
642935fd43 Tools: random Python cleanups based on lgtm analysis 2019-09-21 22:26:03 +10:00
Peter Hall
ac237eea4b Tools: autotest: update sailboat default params and add sailboat-motor frame 2019-08-14 09:26:01 +09:00
Anthony Velte
892ad11552 Tools: Add scrimmage simulator to sim_vehicle.py 2019-08-13 10:07:26 +10:00
Rajat Singhal
ffdf520a01 autotest: enable airsim SITL backend 2019-07-17 07:26:50 +10:00
Pierre Kancir
1f9adf1f3b Tools: remove log module from default autotest modules 2019-07-16 18:58:54 +10:00
Pierre Kancir
21fe1e54e5 Tools: unload relay module from autotest defaults 2019-07-16 18:58:54 +10:00
Pierre Kancir
9d20a13cd4 Tools: reduce mavproxy memory usage on autotest 2019-07-14 15:52:47 +10:00
Peter Barker
87e43d6e44 Tools: autotest: add option to disable breakpoints at sim startup 2019-07-12 12:48:05 +10:00
Andrew Tridgell
5c5ae78dfb autotest: added plane-jet parameters 2019-07-03 08:05:09 +10:00
Andrew Tridgell
7bf7d85a12 autotest: support new motor orders 2019-02-06 11:17:35 +11:00
Peter Barker
0440106c16 autotest: allow autotest with valgrind to cope with new operator 
this is needed for recent versions of valgrind. Without it valgrind
doesn't know that new clears memory
 2018-12-07 08:40:39 +11:00
Peter Barker
55377b424e Tools: autotest: add extra-configure-args option to autotest.py 2018-10-03 13:34:59 +10:00
Randy Mackay
851de12838 Tools: add sailboat to pysim and add default parameters 2018-09-26 12:00:13 +09:00
Pierre Kancir
f6cc934678 Tools: pep8 corrections + correct variable shadowing 2018-08-27 17:08:47 +10:00
Peter Barker
aa36d20aa1 Tools: autotest: add steps to autotest to build and run unit tests 
This is Linux-specific ATM
 2018-08-15 12:11:43 +10:00
Peter Barker
9cd8745394 Tools: autotest: allow use of --gdb when no DISPLAY available 
OTOH, screen will be required....
 2018-07-30 11:18:40 +10:00
Peter Barker
6dd8dbeb40 Tools: autotest: add ability to add breakpoints in autotest 2018-07-27 09:58:15 +10:00
Peter Barker
38898dc793 Tools: autotest: add test for vision position estimate 2018-06-30 10:11:10 +10:00
Ebin
6bb5aa5d36 autotest: added default params for balancebot 2018-06-28 21:55:20 +09:00
Peter Barker
ee01687c55 Tools: fix autotest/valgrind on Vagrant virtual machines 2018-05-17 17:27:43 +10:00
Peter Barker
b2cb6e196c Tools: autotest: pull common MAVProxy options into common.py 2018-03-20 08:39:12 +11:00
Patrick José Pereira
560d8b88d8 Tools: Add gazebo-bluerov2 on vehicleinfo.py 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2017-12-26 09:12:56 +11:00
Andrew Tridgell
bf9779b63a autotest: default plane simulator to 'plane' 
this is good enough for most people and avoids an external dependency
 2017-11-06 15:44:26 +11:00
mirkix
6bc4ab638a Tools: Add SITL tilthvec frame and default parameters 2017-09-18 21:20:39 +10:00
Peter Barker
20bfb82a7b Tools: autotest.py: add --no-clean and --no-configure options 2017-09-11 12:45:27 +10:00
Peter Barker
a7b919f025 Tools: do not attach gdb to gdbserver unless --gdb is given 2017-08-24 21:37:06 +10:00
Miguel Arroyo
38297c4d19 Tools: Adds GDBServer with screen option for debugging 2017-08-24 21:37:06 +10:00
Andrew Tridgell
f5d91f63d2 autotest: fixed firefly parameters 2017-08-20 09:37:00 +10:00
Peter Barker
84e4e282f0 Tools: autotest: use copter-single for most of copter-coax parameters 2017-07-05 17:34:09 +01:00
Peter Barker
a6de3b6865 Tools: use heli params for most of heli-dual params 2017-07-05 17:34:09 +01:00
Peter Barker
9948bed2a2 Tools: use rover params for most of rover-skid params 2017-07-05 17:33:32 +01:00
Andrew Tridgell
392d990950 autotest: added dspoiler parameters for plane 
and simplify vtail and elevon parameters
 2017-07-03 11:17:42 +10:00
Andrew Tridgell
228cba2524 autotest: fixed default frame type in sim_vehicle.py 2017-06-02 16:53:55 +10:00
murata
75e770c83c Tools: add support for dodeca-hexa 2017-05-27 14:21:13 +09:00
Peter Barker
96cfba971c Tools: vehicleinfo: factor out a default_frame method 2017-05-26 16:53:07 +09:00
Peter Barker
3a9ac2ef40 Tools: pull out vehicle metadata into a library 2017-05-26 16:53:07 +09:00
Pierre Kancir
bec09b9a57 autotest: python3 support 2016-11-09 11:48:22 -03:00
Pierre Kancir
5786d66ea1 autotest: simplify start_sitl 2016-11-09 11:48:22 -03:00
Peter Barker
30233ab9b8 Tools: unhide groups when generating parameters in autotest 2016-10-26 09:53:14 +11:00
Andrew Tridgell
26e1c30b19 autotest: avoid a race condition in quadplane test 
this shows up on the new (faster) autotest server
 2016-09-08 15:28:20 +10:00
Pierre Kancir
9e1ffcae5d Tools: update python coding style 
Tools: update PrintVersion.py coding style

autotest: update python coding style

pysim: update python coding style

jsb_sim: update Python coding style

param_metadata: update Python coding style
 2016-09-01 13:05:11 +10:00
Peter Barker
b23f983459 autotest: add --gdb option to autotest.py 2016-06-27 18:14:55 -03:00
Peter Barker
efef39732e autotest: pass any supplied -j through to waf make 2016-06-05 09:45:58 +10:00
Peter Barker
8cf49d4e3e Tools: create build_examples.py, a replacement for build_examples.sh 2016-06-04 12:33:14 -03:00
Peter Barker
3548f90d3a autotest: create SIL object to hold valgrind logpath 2016-05-27 08:07:07 -03:00
Peter Barker
ced07906ad Tools: correct valgrind run in autotest.py 2016-05-27 08:07:07 -03:00
Peter Barker
7b86a05722 Tools: convert autotest build.X and fly.X to use waf build system 2016-05-27 08:07:07 -03:00
Ricardo de Almeida Gonzaga
1062aed91e Tools: Fix typos 2016-05-13 19:20:07 -03:00
Andrew Tridgell
6e418c2cf5 autotest: always sleep for 3 seconds on starting SITL 2016-01-11 09:31:13 +11:00
Andrew Tridgell
decb6dbab0 autotest: added option of autotest with gdb 2016-01-10 21:26:50 +11:00
Andrew Tridgell
9e43d5a4bb autotest: added defaults_file option to start_SIL() 2016-01-09 16:26:51 +11:00
Andrew Tridgell
f4c61acbc2 autotest: removed old python antennatracker simulator 2015-06-01 14:20:27 +10:00
Andrew Tridgell
532839d7dd autotest: remove old python simulators 2015-05-25 12:22:28 +10:00
Andrew Tridgell
0d20167294 autotest: removed earth-frame rates usage 
work only with rates in body frame
 2015-05-25 08:42:21 +10:00
Lucas De Marchi
35b550f03d autotest: fix usage of tabs instead of space 
Python 3 is stricter with regard to using tabs instead of space (PEP8):
	Spaces are the preferred indentation method.

	Tabs should be used solely to remain consistent with code that
	is already indented with tabs.

	Python 3 disallows mixing the use of tabs and spaces for
	indentation.

	Python 2 code indented with a mixture of tabs and spaces should
	be converted to using spaces exclusively.
 2015-05-13 20:51:37 +09:00
Andrew Tridgell
68515d0324 autotest: fixed CopterAVC test 2015-05-11 11:26:54 +10:00
Andrew Tridgell
98df4fe60e autotest: make sim command clearer in logs 2015-05-06 10:10:13 +10:00
Andrew Tridgell
209896afc7 autotest: use builtin rover model for autotest 2015-05-05 16:56:39 +10:00
Andrew Tridgell
8c8c910ad0 autotest: removed the old AVR/2560 code in autotest 
now checked with build_all
 2015-05-05 10:39:31 +10:00
Andrew Tridgell
1cbbf1ab9e autotest: start SITL in synthetic clock mode 2015-04-30 17:19:56 +10:00
Andrew Tridgell
3300de2c9d autotest: added some gyro and accel noise to copter sim 
this noise should be kinematically consistent, so will be better for
the EKF
 2015-04-21 21:33:27 +10:00
Andrew Tridgell
03b5305837 autotest: allow for negative col pitch in crrcsim heli 
this allows for hovering upside down in acro mode
 2015-04-21 20:45:30 +10:00
Andrew Tridgell
ffd4662ec4 autotest: convert rover sim to use sim_wrapper.py 2015-04-20 08:36:52 +10:00
Andrew Tridgell
dbeaccc3d9 autotest: auto-adjust frame rate for crrcsim 2015-04-20 08:20:50 +10:00
Andrew Tridgell
6897bfdc6b autotest: fixes for crrcsim with heli model 2015-04-20 08:05:29 +10:00
Andrew Tridgell
e9b6863b23 autotest: changed to new crrcsim FDM protocol format 2015-04-19 15:49:05 +10:00
Andrew Tridgell
1cd114e300 autotest: added initial CRRCSim backend 2015-04-19 12:08:26 +10:00
Andrew Tridgell
b5c40cad76 autotest: added gps_distance and gps_bearing 
needed for CRRCSim backend
 2015-04-19 12:08:26 +10:00
Andrew Tridgell
b6ff19e86c autotest: make default rate depend on model type 2015-04-19 12:08:26 +10:00
Andrew Tridgell
633e7122e7 autotest: added some lateral thrust to helicopter simulator 2015-04-19 12:08:26 +10:00
Andrew Tridgell
6b21aceed0 autotest: moved constrain() into util.py 2015-04-19 12:08:26 +10:00
Andrew Tridgell
d691cfc3d8 autotest: rename sim_multicopter.py to sim_wrapper.py 
it now supports multiple vehicle types
 2015-04-19 12:08:25 +10:00
Andrew Tridgell
82f6bb3c17 autotest: use common frame time handling 2015-04-13 10:08:12 +10:00
Randy Mackay
2799d15427 SITL: weaken simulated copter 2015-04-08 12:18:15 +09:00
Andrew Tridgell
ee35c2aa35 autotest: update gimbal model to match new messages 2015-04-06 16:45:51 -07:00
Andrew Tridgell
a0028e3faf autotest: fixed SITL without ROS installed 2015-04-01 12:28:41 -07:00
Andrew Tridgell
70855027f3 autotest: added Iris ROS simulator support 
use -f IrisRos
 2015-04-01 09:14:03 -07:00
Andrew Tridgell
f82f0da2b3 autotest: support sims that do their own time control 2015-04-01 09:12:11 -07:00
Andrew Tridgell
5947160fd7 autotest: removed delta_time from update_position() 
not available in some backends, and not needed
 2015-04-01 09:11:25 -07:00
Andrew Tridgell
cf15b4d4fc autotest: removed use of --nowait option 2015-03-27 18:03:24 -07:00
Andrew Tridgell
16f09a6eae autotest: added -S parameter for simulation speedup 2015-03-27 13:52:59 -07:00
Andrew Tridgell
45887a5d28 autotest: run rover and copter with synthetic clock 2015-03-22 18:57:43 -07:00
Andrew Chapman
e90f5375d0 added octa-quad target for SITL, fixed octa motor order 2015-03-11 21:38:25 +09:00
Robert Lefebvre
45a12646be SITL: Initial improvements to tradheli simulation 2015-03-11 21:07:02 +09:00
Andrew Tridgell
3ca4142c91 SITL: added tradheli support 
start with:

  sim_vehicle.sh -f heli --console --map
 2015-02-24 16:16:05 +11:00
Paul Riseborough
fe0c434d2b Simulator: Gimbal debug output changes 2015-02-03 09:49:17 +11:00
Paul Riseborough
84029f8f7c Simulator: Bypass angle limiting to allow debugging 2015-02-03 09:49:17 +11:00
Andrew Tridgell
9bdefd0bba autotest: updates for new GIMBAL_REPORT format 2015-02-03 09:49:16 +11:00
Andrew Tridgell
c58397020a autotest: send targeted GIMBAL_REPORT messages 2015-02-03 09:49:15 +11:00
Andrew Tridgell
28cf93d300 autotest: added maths for correct gimbal joint limits 
This adds (more) correct join rate limiting based on Pauls maths. It
avoids the coupling of the axes inherent in the last implementation

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-02-03 09:49:14 +11:00
Andrew Tridgell
f63eb870cf autotest: change euler312 ordering conventions 2015-02-03 09:49:14 +11:00
Andrew Tridgell
791dfbff7e autotest: added mavlink gimbal simulation in copter SITL 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-02-03 09:49:13 +11:00
Andrew Tridgell
edad8da613 pysim: added euler312 conversions 2015-02-03 09:49:13 +11:00
Andrew Tridgell
06c3a0e96c autotest: fixed tracker sim for non-onoff mode 2014-08-03 18:16:50 +10:00
Andrew Tridgell
8ea098ad21 autotest: support antenna trackers with on/off servos in SITL 2014-07-23 18:41:34 +10:00
Andrew Tridgell
acdb2e2175 autotest: raise turn rate of antennas 2014-03-13 07:30:41 +11:00
Andrew Tridgell
83269bbea7 autotest: initial version of a antenna tracker simulator 2014-03-12 14:35:01 +11:00
Andrew Tridgell
c39ad1cafb autotest: better skid steering support in the rover simulator 2014-02-17 10:11:40 +11:00
Andrew Tridgell
e1b01b205a autotest: fixed clean build 2013-11-04 21:21:43 +11:00
Andrew Tridgell
dcb60e190d autotest: run mavproxy.py from $PATH 2013-09-17 21:05:00 +10:00
Andrew Tridgell
4f118a85b2 autotest: fixed import paths for pymavlink 
assumes installed package now
 2013-08-30 13:01:36 +10:00
Andrew Tridgell
6288487814 autotest: fixed initial yaw in copter sim 2013-05-27 18:13:09 +10:00
Andrew Tridgell
7456493b34 autotest: make rover sim closer to Toms slash 2013-05-27 13:37:33 +10:00
Andrew Tridgell
761bd75a3a autotest: update rover sim for turning circle based steering 
more realistic modelling of a rover
 2013-05-27 13:37:33 +10:00
Andrew Tridgell
4c9cb461d6 autotest: setup Rover autotest for Sparkfun course 
this will make it easier to test around the course
 2013-05-17 10:37:11 +10:00
Randy Mackay
9e01dea95b AutoTest: reduce copters terminal vel to 15m/s 2013-05-03 14:52:16 +09:00
Randy Mackay
68279a138f AutoTest: reduce power of virtual copter 2013-05-03 11:20:26 +09:00
Andrew Tridgell
960574cccf autotest: fixed sleep_overhead calculation in sim_multicopter.py 2013-04-08 07:07:25 +10:00
Andrew Tridgell
2b19249e4a autotest: fixed autotest executable path 2013-04-06 18:24:43 +11:00
Andrew Tridgell
a8e34eeeb7 autotest: fixed tmp path handling in autotest for dump_logs.py 2013-04-06 17:07:47 +11:00
Andrew Tridgell
e61f3dfeca autotest: remote getppid for SITL copter on windows 2013-04-02 13:54:36 +11:00
Andrew Tridgell
f6ddc4e4a1 autotest: added GPS vertical speed to the sitl simulator 2013-03-28 10:28:08 +11:00
Andrew Tridgell
92ddd4b5d1 autotest: removed 2nd getppid() call 2013-03-26 08:23:00 +11:00
Andrew Tridgell
8b21cac5fd autotest: remove dependency on getppid() 
makes pysim more windows friendly
 2013-03-26 08:20:40 +11:00
Andrew Tridgell
57c498b570 autotest: remove dependency on pexpect for rover/copter sim 
this makes it easier to run on windows
 2013-03-26 08:12:57 +11:00
Andrew Tridgell
232bdca4e2 autotest: improved skid steering test scripts 2013-03-15 11:05:03 +11:00
Andrew Tridgell
6ea2130342 autotest: added skid steering support to rover simulator 
Very rough initial implementation. Needs to be tweaked for more
realistic behaviour later.

thanks to Greg Brill for pointers on this.
 2013-03-15 09:52:32 +11:00
Andrew Tridgell
a8b9e5cf5b autotest: disable wind drag 
this is causing some crazy results in stabilize mode. Disable it until
we sort it out
 2013-01-14 18:03:51 +11:00
Andrew Tridgell
3fda7bbeac autotest: fixed log dumping 2012-12-22 14:50:32 +11:00
Andrew Tridgell
7b2d65e3e7 autotest: added HAL_BOARD to build config 2012-12-22 12:55:22 +11:00
Andrew Tridgell
a620665772 autotest: first version of a rover simulator in python 2012-11-28 00:11:54 +11:00
Andrew Tridgell
1ce3876d24 pysim: fixed testwind script 2012-10-31 10:26:48 +11:00
Lee Pike
a141e16729 Pysim: add effects of wind by calcualting a drag vector (force). 2012-10-31 10:15:32 +11:00
Andrew Tridgell
697b2074a5 SITL: added SIM_WIND_* parameters 
this allows control of the simulated wind during a flight
 2012-08-25 17:49:26 +10:00
wiseman
af0d2de2ed Use MAVPROXY_CMD instead of MAVPROXY 2012-07-23 21:30:50 -07:00
wiseman
05de9e425c Added run_sim_mission. 2012-07-23 21:29:24 -07:00
Andrew Tridgell
60caaa4b04 MAVLink: remove MAVLink 0.9 protocol support 
this simplifies the code a lot. We're not going back to 1.0
 2012-07-05 13:00:46 +10:00
Andrew Tridgell
61f325713e SITL: fixed the normalisation of the DCM matrix in the multicopter sim 2012-07-04 15:59:15 +10:00
Andrew Tridgell
5cd5f40f09 autotest: switch to full accel modelling in multicopter simulation 
the new AHRS code should allow for centripetal compensation in
multicopters
 2012-06-27 16:01:50 +10:00
Andrew Tridgell
ff9743995d autotest: fixed lat/lon update for multicopter sim 
this makes waypoint tracking more accurate
 2012-06-05 11:18:52 +10:00
Andrew Tridgell
47d5f31fc2 removed copy of pymavlink code 
use upstream code instead
 2012-06-04 17:51:12 +10:00
Andrew Tridgell
67afdc7485 autotest: fixes for MAVLink 1.0 in autotest 2012-04-27 15:15:53 +10:00
Andrew Tridgell
b73732c361 autotest: removed unused files 2012-04-27 15:15:53 +10:00
Andrew Tridgell
9d4b37ecac sitl: we don't need mavlink in copter sim 2012-04-24 22:24:58 +10:00
Andrew Tridgell
c084a72723 pysim: ensure Vector3() uses floats 2012-03-29 12:39:53 +11:00
Andrew Tridgell
0f6e7a1449 pysim: implement partial 3D acceleration support 
The simulator flies very badly when using the full acceleration
code. I don't yet know if this is a bug in the simulation or a problem
with AHRS not handling acceleration for multicopters.

For now set the acceleration to be half a 'pure gravity' acceleration
and half from the full 3D calculation.
 2012-03-23 16:48:52 +11:00
Andrew Tridgell
f1acdb13c2 pysim: added experimental acceleration support 2012-03-23 16:48:52 +11:00
Andrew Tridgell
5f3e2cf98a pysim: update the multicopter simulator with correct acceleration 
this re-works the multicopter simulator in terms of rotation matrices,
and adds full acceleration support, which means it will include linear
acceleration affects and centripetal acceleration
 2012-03-22 23:00:45 +11:00
Andrew Tridgell
4407f6b8ca pysim: added rotmat.py 
this is a python library for rotation matrices, following the
conventions in AP_Math
 2012-03-22 23:00:45 +11:00
Andrew Tridgell
ffa3330f93 autotest: fixed the calculation of the acceleration due to gravity 
this fixes the attitude calculation for the multicopter simulation
 2012-02-18 19:27:15 +11:00
Jason Short
351be7c305 Made timer unsigned 2012-01-10 23:42:26 -08:00
Andrew Tridgell
2a3d4efb38 pysim: support octax 2012-01-04 22:15:17 +11:00
Andrew Tridgell
64b541037e autotest: change to an octa frame for autotest 
this will be a useful experiment
 2012-01-04 22:03:37 +11:00