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2834 Commits

Author SHA1 Message Date
Peter Barker 30ebe6cde9 autotest: augment test DO_AUX_FUNCTIION test for FAILED AND DENIED 2021-03-31 11:36:09 +11:00
Peter Barker b2f47ba367 autotest: add test for auxilliary functions in missions 2021-03-31 11:36:09 +11:00
Peter Barker b55094fef4 autotest: Test triggering Auxillary Functions via mavlink 2021-03-31 11:36:09 +11:00
Peter Barker ef4ebbf126 autotest: add a do-nothing --autotest-server option 
This option is currently ignored, but if given allows the script to
continue normally.

This allows us to change the autotest server to pass the option in - and
then we can change autotest.py so that unless the option is given we
spit out a help message rather than completely stuff up the user's
development environment
 2021-03-26 22:52:35 +11:00
Peter Barker e2a350f12e autotest: reduce race condition in fly_square mission 
We end up where we started, so when we start to play the mission back we
might immediately be at the first waypoint.  That's a problem as we may
never see the NAV_CONTROLLER_OUTPUT mention waypoint 1 and thus we
fail the test
 2021-03-25 02:13:44 +11:00
Peter Barker 240e2d6b28 autotest: correct pexpect handling of supplementary programs 2021-03-24 23:10:27 +11:00
Peter Barker ae7b21843e autotest: remove useless mavproxy set heartbeat directive 
This has never actually worked:

2021-03-24T04:53:03.7594996Z AT-0040.3: Starting MAVProxy
2021-03-24T04:53:03.7595674Z PYTHONPATH: /__w/ardupilot/ardupilot/Tools/mavproxy_modules
2021-03-24T04:53:05.8106006Z Running: "mavproxy.py" "--master" "tcp:127.0.0.1:5762" "--aircraft" "test.ArduCopter" "--sitl=127.0.0.1:5502" "--streamrate=5" "--cmd="set heartbeat 8"" "--target-system=1" "--target-component=1" "--quadcopter" "--default-modules" "misc,terrain,wp,rally,fence,param,arm,mode,rc,cmdlong,output"
2021-03-24T04:53:05.8108569Z ERROR LOADING MAVNATIVE - falling back to python implementation
2021-03-24T04:53:05.8109340Z Connect tcp:127.0.0.1:5762 source_system=255
2021-03-24T04:53:05.8109962Z no script test.ArduCopter/mavinit.scr
2021-03-24T04:53:05.8110739Z Unknown command '"set heartbeat 8"'
 2021-03-24 23:10:06 +11:00
Peter Barker 8bf1ac0347 autotest: fix and tidy the log download test 
We were requesting past the end of the file
 2021-03-24 14:46:48 +11:00
Peter Barker fdbbcaa506 autotest: bump default speedups for several vehicles 
These tests seem to run stabley on my box with essentially no speedup
limit
 2021-03-24 14:46:48 +11:00
Peter Barker 6f2de67ead autotest: augment delay_sim_time debug 2021-03-24 14:46:48 +11:00
Peter Barker d9501766c7 autotest: augment delay_sim_time debug 2021-03-24 08:57:03 +11:00
Peter Barker 9f15689850 autotest: wait longer for prearm failure in IE24 autotest 
we only emit prearm failures every 30 seconds - we just weren't waiting
long enough here
 2021-03-23 20:34:47 +11:00
Peter Barker 073a9e3390 autotest: fix frsky passthrough test 
Mainly through polling much faster, but also allowing for statustexts in
different orders from frsky/statustext
 2021-03-22 18:08:44 +11:00
Peter Barker e567cca230 autotest: drain mav before receiving system_time in get_sim_time 2021-03-19 09:46:45 +11:00
Peter Barker 8901efd69d autotest: start and stop MAVProxy for alttype and surface tracking tests 
autotest doesn't currently supply terrain tiles, so MAVProxy must be
started
 2021-03-19 09:46:45 +11:00
Peter Barker 19e5351631 autotest: start and stop mavproxy for setpoint tests 
These work in terrain frame - but autotest won't satisfy terrain
requests yet
 2021-03-19 09:46:45 +11:00
Peter Barker 462ac255a3 autotest: start MAVProxy only as needed for testing 2021-03-19 09:46:45 +11:00
Peter Barker 4269cf52a2 autotest: split application of default parameters and defaultfile parameters 
ensures all vehicles have LOG_DISARMED
 2021-03-19 09:46:45 +11:00
Peter Barker 37efb1cbeb autotest: Copter sim passes default file instead of setting parms 
We're now waiting for the vehicle simulation to provide us a heartbeat
for a non-generic frame before considering it good to fly.

Unfortunately, Copter relies on the parameter file to tell it which
frame to use - and we don't apply parameters from parameter files until
after we've checked the heartbeat.

Passing the file into ArduPilot on the commandline means we don't have
this problem.
 2021-03-19 09:46:45 +11:00
Peter Barker dbee2e5d71 autotest: ignore type=0 heartbeat packets on SITL start 
Until ArduCopter allocates its motors backend we emit a generic type,
for which there is no mode map in pymavlink.

So don't consider the reboot complete until we see a valid heartbeat.
 2021-03-19 09:46:45 +11:00
yaapu ec15614e11 Tools:autotest: added frsky passthrough autotest for terrain message frame 0x500B 2021-03-18 21:43:48 +11:00
Peter Barker 120167f799 autotest: fix fly_square mission 
waypoint doesn't change until mission is running
 2021-03-18 17:02:06 +11:00
Peter Barker 42eec13f5e autotest: adjust CAN test for lack of MAVProxy 2021-03-18 13:50:57 +11:00
Peter Barker 21c124ab47 autotest: tidy set_parameters 
Remove commented code, add more to the verbose option
 2021-03-18 11:29:45 +11:00
Stavros Korokithakis f6fc6d22da autotest: Fix the climb-before-turn test 2021-03-18 07:37:21 +11:00
Samuel Tabor 36428f5074 Tools: Handle repeated add-param-file arguments to sim_vehicle.py. 2021-03-17 19:43:03 +11:00
Pierre Kancir ebe841ba70 Tools: param_parse: validate empty description and fields 2021-03-17 18:54:53 +11:00
Peter Barker da52e5d08c autotest: set SYSID_MYGCS in tests which need it 
This was still relying on heartbeats coming from MAVProxy.  As speedup
increased those heartbeats may not come fast enough - and they really
should be coming from autotest as that's who's doing the commanding.

autotest: set SYSID_MYGCS in AFS test

autotest: set SYSID_MYGCS before setGCSfailsafe
 2021-03-17 16:02:45 +11:00
Peter Barker 216140b58d autotest: remove un-needed portion of reset_delay_item 
Looks like this function evolved and this appendix remained
 2021-03-17 14:17:39 +11:00
Peter Barker f7d8994ce1 autotest: move assert_mission_count up, use it 2021-03-17 00:23:05 +11:00
Peter Barker 30c9d4bcf4 autotest: remove pointless loiter switch 2021-03-16 23:33:51 +11:00
Peter Barker 0c7f3d20a4 autotest: fix attitude test 
autotest: add a get_messages_frame method

Attempts to get a set of messages as close as reasonable in time.
 2021-03-16 14:19:44 +11:00
Stavros Korokithakis 29043d62e9 Add FLIGHT_OPTION to climb before RTL 2021-03-16 11:58:47 +11:00
Peter Barker 4b3adb806c autotest: add test for tailsitter throttle 2021-03-16 10:41:44 +11:00
Hwurzburg d15e01d390 Plane: fix DO_CHANGE_SPEED airspeed to impact only AUTO and GUIDED modes 2021-03-16 10:09:34 +11:00
Peter Barker eb702b0f82 Tools: add support for ATTITUDE_QUATERNION 2021-03-13 09:44:12 +11:00
Peter Barker 0414929310 autotest: fix Heli spline waypoint test 
Mission isn't round-tripped so make it non-strict
 2021-03-13 09:35:22 +11:00
yaapu 3bfa07d35a Tools:autotest, frsky passthrough fix for long status text message test 2021-03-13 00:14:27 +11:00
bugobliterator 5074b6d336 autotest: add test case for GPS ordering 
also fix flake8 issues
 2021-03-12 16:32:36 +09:00
bugobliterator 48277b43e4 Tools: add autotest for checking GPS ordering 2021-03-12 16:32:36 +09:00
Peter Barker f78d7c3b25 autotest: add option to not check current wp after set_current_wp 
Sometimes a waypoint is set which we'll never emit as our current
waypoint (e.g. a JUMP)
 2021-03-10 09:12:39 +11:00
Peter Barker 4a251bebbd autotest: fix fly_home_land_and_disarm; wp 7 is never current wp 
This is never a current waypoint, so we can't wait for it
 2021-03-10 09:12:39 +11:00
Peter Barker 3ddffdab9b autotest: correct wait_current_waypoint timeout behaviour 2021-03-10 09:12:39 +11:00
Randy Mackay 78ddd0512c Tools: autotest for copter spelling fix 2021-03-09 11:49:42 +11:00
Randy Mackay 4abae23306 Tools: disable QuadPlane.GyroFFT autotest 2021-03-08 08:52:05 +09:00
Peter Barker bdeadce95b autotest: improve deadreckoning test 
autotest: use location_offset rather than coordinates in Deadreckoning test
 2021-03-05 21:34:58 +11:00
Peter Barker 425ab1358a autotest: tidy streamrate handling 
Stop setting MAVProxy stream rates; these are neither here-nor-there now as MAVProxy will only modify its own connection's streamrates now

Stop doing the set-streamrate dance to work around MAVProxy's
set_streamrate algorithms.

Remove useless and misleading set of streamrate in Plane test; we reset
streamrates on the reboot immediately following this set.  Considering
the streamrate was never eset this was a good thing.
 2021-03-05 21:34:58 +11:00
James O'Shannessy bcc0da9c47 AutoTest: Adds additional autotests to capture mode change while breached 
AutoTest: Adds test for fence breach switching to guided mode when no fence return point is present. In upstream, this results in a vehicle fly-away.
 2021-03-05 14:52:46 +11:00
James O'Shannessy 269fa5cbe2 AutoTest: Copter remove FENCE_AUTOENABLE tests 
Addresses comments made in review, removes the FENCE_AUTOENABLE param for copter.
No param means no tests required.
 2021-03-05 14:52:46 +11:00
James O'Shannessy dac5996d93 AutoTest: Fix autotest conflicts after rebase on upstream 2021-03-05 14:52:46 +11:00
James O'Shannessy e16bbe6e18 AutoTest: Ensure fence state is disabled at end of test 
This appears to be another case of the fence state carrying over from one test to another. Disabling the fence at the end of the test appears to have fixed this problem
 2021-03-05 14:52:46 +11:00
James O'Shannessy 31462418c6 AutoTest: Ensure Copter can RTL and Land even when Fence Floor has not been auto disabled 2021-03-05 14:52:46 +11:00
James O'Shannessy fa7be629e5 AutoTest: Make fence tests flake8 compliant 2021-03-05 14:52:46 +11:00
James O'Shannessy 01b27bdb61 AutoTest: revert change that breaks quadplane 2021-03-05 14:52:46 +11:00
James O'Shannessy 2353b55452 AutoTest: Address race conditions in changes to fence tests 2021-03-05 14:52:46 +11:00
James O'Shannessy 76a2a76b54 AutotTest: Adds autotests for Plane to test RetRally flag added to AC_Fence 2021-03-05 14:52:46 +11:00
James O'Shannessy 8545715837 AutoTest: Add Static Fence Tests for unallowed arming when breaching geofence 2021-03-05 14:52:46 +11:00
James O'Shannessy 6f7ba3b037 AutoTest: Ensure fence is disabled at end of throttle_failsafe_fence test 2021-03-05 14:52:46 +11:00
James O'Shannessy 6251b6eead AutoTest: Rebase and carry across changes from autotest 2021-03-05 14:52:46 +11:00
James O'Shannessy b2346ef6df AutoTest: Adds additional tests to ArduCopter to test autoenable and floor 
Adds tests for:
* Testing auto-enable disabled (when no autoenabling of the fence is required)
* Test auto-enabled always after takeoff (when takeoff complete condition met)
* Test auto-enabled disable floor only (when land sequence begins)
* Test auto- on arm/disarm (when vehicle is armed/disarmed)
* Tests ability to land when fence is breached
 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas dd5ede0fe0 autotest: small comment improvements 2021-03-05 14:52:46 +11:00
James O'Shannessy bbd606b8b5 AutoTest: Corrections to autotests 2021-03-05 14:52:46 +11:00
James O'Shannessy a3efc9ad98 AutoTest: Fix MAVlite test allowing plane fence to be enabled 2021-03-05 14:52:46 +11:00
James O'Shannessy 47e76a1807 AutoTest: Move fence enable/disable to common location 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 528defd560 Autotest: activate the fence via a mavlink command 
This should not be required in the future, please fix this and revert this commit
 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 8d8753b14c Autotest: fix two copter tests after parameter rename 
I'm not sure if a better fix would be to remove the set_parameter() call
 2021-03-05 14:52:46 +11:00
James O'Shannessy 215901be30 Autotest: Correct the logic for fence based autotest functions 
Adds corrections to enabling fence using aux function.
Correctly test fences statically. Only uploaded fences can be checked using a fence file, so we check those first. Then we add steps to check tin can, max and minm all set the fence as present, as expected.
Plane will support MAV_PROTOCOL_CAPABILITY_MISSION_FENCE, so we assert that it does support it.
To test ceiling and floor, leverage some existing functions for takeoff, change altitude and land. Check for respective breach.
Add a floor breach check to copter.
 2021-03-05 14:52:46 +11:00
James O'Shannessy 1a3e168ced Autotest: Fence is present, but test looking for not present 
Autotest: Remove ties to mavlink FENCE_ACTION

Autotest: Add ArduPlane autotest to test ceiling and floor

Adds a test to ensure the vehicle reverts to RTL when breaching a ceiling or floor.

Autotest: Progress the test once we reach takeoff complete and fence enable

Autotest: Use RC_OPTION for Aux Switch functionality

Autotest: Enable fence last
 2021-03-05 14:52:46 +11:00
Paul Riseborough d52594c576 Tools: Fix set_home autotest 
Don't try to get home until EKF has passed alignment and GPs checks.
Use a more realistic lat/lon offset threshold
 2021-03-05 12:10:01 +11:00
Peter Barker 4aed767fe9 autotest: add test for MAV_CMD_DO_SET_MISSION_CURRENT 2021-03-04 11:59:33 +11:00
Peter Barker a235246628 autotest: correct units in new AHRS2 test 2021-03-03 18:41:14 +11:00
Pierre Kancir ecc89411f9 Tools: put UART_chargen in skip list 2021-03-03 18:07:38 +11:00
Peter Barker b3ee5d5f59 autotest: increase verbosity in AHRS2 test 2021-03-03 16:29:33 +11:00
Randy Mackay a35a7e1523 Tools: autotest manual control test requires 12 deg 
adjusted down because of lower default angle_max
 2021-03-03 08:03:39 +09:00
Peter Barker 317181922c autotest: ensure we're getting vaguely sane data in AHRS2 message 2021-03-02 20:48:36 +11:00
Peter Barker cc83562add autotest: tidy fence handling 2021-03-02 16:54:06 +11:00
Peter Barker b2d4cefa85 autotest: change heli default RPM type to 10 
Change default to SITL
 2021-03-02 15:41:44 +11:00
Peter Barker 4d2cf8c95b AP_Frsky_SPort: correct handling of RPM sensor data 
Nails support down to just two RPM sensors for the time being.

Simplifies things (there was an issue here when I corrected RPM-in-SITL)
 2021-03-02 15:41:44 +11:00
Peter Barker eb499ff731 autotest: improve frsky SPort test 
- reduces verbosity as we only check the remaining items when new data
received
 - reduces repoll interval and explains why we need to re-poll
 2021-03-02 15:41:44 +11:00
Peter Barker 7b251b6fd4 autotest: add diagnostics for frsky tests 2021-03-02 15:41:44 +11:00
Peter Barker 2671a2f71f autotest: fix up FRSky tests for running under Valgrind 2021-03-02 15:41:44 +11:00
Peter Barker 360512f6b0 autotest: preserve commandline customisations on reboot under valgrind 2021-03-02 15:41:44 +11:00
Peter Barker fc9a93ba67 autotest: stop using mavproxy for clearing missions 2021-03-02 14:24:36 +11:00
Peter Barker 97e2596bf8 autotest: stop clearing mission at start of test 
These are implicitly cleared by the framework
 2021-03-02 14:24:36 +11:00
Peter Barker 973510a4ff autotest: push context after customising cmdline 
doing things in the other order causes problems when running the
complete suite
 2021-03-02 14:24:36 +11:00
Peter Barker 5d1e105534 autotest: allow more time for mission upload and download 
We upload some rather large missions....
 2021-03-02 14:24:36 +11:00
Peter Barker 10007e2e42 autotest: load missions natively rather than using MAVProxy 2021-03-02 14:24:36 +11:00
Peter Barker 993d87469c autotest: move mission upload functions from rover to common 2021-03-02 14:24:36 +11:00
Peter Barker 34a52e9cfe autotest: use wait_statustext in place of mavproxy.expect for autorotate test 2021-03-02 13:34:09 +11:00
Peter Barker 0daa1a63d3 autotest: remove pointless fetch_parameters call 
And the entire method, replace with equivalent test
 2021-03-01 17:27:52 +11:00
nkruzan 3e0f9ab4e7 Tools:autotest\common.py fix text typo 2021-03-01 15:15:38 +11:00
Peter Barker 61138f342a autotest: do not time out receiving of heartbeat if running gdb 
pausing indefinitely when running GDB is OK.
 2021-03-01 13:44:23 +11:00
Peter Barker 1f47698076 autotest: use change_mode in place of mavproxy.send 2021-03-01 13:10:09 +11:00
Peter Barker d3b3c443bc autotest: reset copter completely after autotune test 2021-02-25 10:49:58 +11:00
Peter Barker 013415eb31 autotest: make and mark arducopter.py as flake8-compliant 2021-02-24 15:10:10 +11:00
Peter Barker 79f21ed639 autotest: add test for GSF logging 2021-02-23 12:36:33 +11:00
Peter Barker 9d681eecc4 autotest: move to state outside when we leave log structure 
No vertical whitespace allowed in the structures...

We concatenate all of the LogStructure files; without this we remain in
state_inside and try to parse every line in the concatenation as if it
were a log structure definition
 2021-02-23 12:36:33 +11:00
Peter Barker 44ec74030e autotest: recover from flip in althold to remove stabilise throttle problem 2021-02-21 23:11:26 +11:00
Peter Barker a4a5d52c35 autotest: extend time allowed for RTL for simplemode test 2021-02-21 22:45:06 +11:00
Peter Barker 9120882e9e autotest: print name of open dataflash log when test exception caught 
The stack trace is already extremely useful... but mapping back to the
relevant dataflash log is a bit of a pain.

Adding more stuff to this method in the future might be good, too.
 2021-02-21 21:35:35 +11:00
Peter Barker adf44f3b2b autotest: make and declare sim_vehicle.py flake8-clean 2021-02-21 21:35:17 +11:00
Peter Barker 98451e499a autotest: make and declare balancebot flake8-clean 2021-02-21 21:35:17 +11:00
Peter Barker b5f490aff4 autotest: make fly_proximity_avoidance_test_alt_no_avoid more reliable 2021-02-21 17:44:10 +11:00
Peter Barker d4aef2dba8 autotest: stop using MAVProxy to change mode 2021-02-20 00:03:24 +11:00
Peter Barker 05c9b79a5e autotest: make and declare quadplane.py flake8-clean 2021-02-20 00:02:33 +11:00
Peter Barker c13d229877 autotest: use self.set_current_waypoint rather than "wp set" to set current wp 2021-02-19 12:25:40 +11:00
Peter Barker 148e2e751f autotest: add set_current_waypoint 2021-02-19 12:25:40 +11:00
Peter Barker b7044d3708 autotest: remove use of global expect_list 2021-02-18 18:18:30 +11:00
Peter Barker 2d17f019b6 autotest: remove pointless manipulation of expect list 
start_sitl and start_mavproxy already do this stuff
 2021-02-18 18:18:30 +11:00
Peter Barker dcc04ccd09 autotest: stop using MAVProxy to change modes 2021-02-18 17:38:52 +11:00
Peter Barker 2c1df16442 autotest: increase button message timeout to allow for Valgrind speed 2021-02-18 17:04:16 +11:00
Peter Barker ad06a616b8 autotest: adjust for low log transfer rate under valgrind 2021-02-18 17:04:16 +11:00
Peter Barker bcc1cb9dbb autotest: use get_parameter in place of mav's param object 
This is the only place in the code that does this
 2021-02-18 15:06:26 +11:00
Peter Barker b1ccf3b3f8 autotest: add test for rangefinder-based proximity avoidance enablement 2021-02-18 15:05:51 +11:00
Peter Barker 3cf1b9444f autotest: get_sim_time_cached in NMEA output test to stop losing msgs 2021-02-18 11:26:22 +11:00
Peter Barker ce61f44505 autotest: reset SITL commandline after fetching unhidden parameters 
this makes a difference under Valgrind, which has to reboot slightly differently to normal SITL
 2021-02-18 11:26:22 +11:00
Peter Barker e221e6ce45 autotest: flake8 compliance for ardusub.py 2021-02-18 10:43:05 +11:00
Peter Barker 628a3843b2 autotest: flake8 compliance for arduplane.py 2021-02-18 10:43:05 +11:00
Peter Barker 78aa729b90 autotest: flake8 compliance for common.py 2021-02-18 10:43:05 +11:00
Peter Barker 4c56ac7eb3 autotest: flake8 compliance for antennatracker.py 2021-02-18 10:43:05 +11:00
Peter Barker 726f54e37f autotest: flake8 compliance for rover.py 2021-02-18 10:43:05 +11:00
Peter Barker e3887c8d93 autotest: make and mark autotest.py flake8-clean 2021-02-18 10:43:05 +11:00
Peter Barker 33fee211a4 autotest: extend pexpect timeouts when running under Valgrind 2021-02-17 18:16:04 +11:00
Peter Barker a292fe1b8b autotest: use wait_statustext rather than mavproxy.expect 
This is important when running under Valgrind as the text can be
significantly delayed.  wait_statustext times out in simulation time,
whereas mavproxy.expect has a flat 60s timeout
 2021-02-17 18:16:04 +11:00
Peter Barker c00a82868e autotest: make DLVR sole airspeed sensor in test 
The test wasn't actually *using* the DLVR...
 2021-02-17 14:23:07 +11:00
Peter Barker dbdda65956 autotest: add basic test for GPS blending 2021-02-17 11:30:01 +11:00
Peter Barker 1ca0998f32 Tools: take MAV_CMD_DO_SPRAYER as a mavlink command 2021-02-16 22:36:43 +11:00
Peter Barker b14dcf4bae Tools: add mission command to turn sprayer on and off 2021-02-16 22:36:43 +11:00
Peter Barker be8f747b7a autotest: adjust timeout for Valgrind; disable for gdb 2021-02-16 13:18:41 +11:00
Peter Barker ca49f62b6d autotest: add test for Plane's RTL_CLIMB_MIN parameter 2021-02-13 19:34:52 +11:00
Peter Barker e4d5a92721 autotest: add wait_distance_to_nav_target method 2021-02-13 19:34:52 +11:00
Peter Barker d60fa86026 autotest: use set_map_from_rc more 2021-02-13 19:34:52 +11:00
Peter Barker a5706a18af autotest: handle Py2 not having ConnectionResetError built in 2021-02-12 18:24:18 +11:00
Iampete1 904b493809 Tools: autotest, common.py remove extra comma 2021-02-11 09:20:15 +11:00
Pierre Kancir 8396388af9 Tools: run_examples: add FlashTest to skip list 2021-02-10 18:49:42 +11:00
Peter Barker 4324d66c13 autotest: loosen time constraint on mavlink messages in magcal 
Saw an error where we didn't get one of these in 5 seconds.

That sounds like too much.  But we'll loosen the constrain anyway
 2021-02-10 09:28:45 +11:00
Peter Barker bd8384b322 autotest: break out a get_altitude method 2021-02-10 09:28:25 +11:00
Alessandro Apostoli e2aaf4c216 Tools: autotest, fix for frsky not defined error (#4) 2021-02-10 09:27:58 +11:00
Peter Barker d9dd93bcdd autotest: don't run frsky tests armed for the most part 2021-02-10 09:27:58 +11:00
Peter Barker 742d5a9fa0 autotest: add body_frame_velocity 2021-02-08 22:44:32 +11:00
Randy Mackay f20fc28a85 Tools: param files to ease SITL setup of GPS-for-yaw 2021-02-05 17:22:27 +09:00
Randy Mackay a09bdcdda1 Tools: default param file to ease using copter SITL with vicon 2021-02-04 20:21:00 +09:00
Peter Barker 567e9733b6 autotest: augment bisect-helper.py to help with flapping tests 
- option to allow for a string which must be present in the outout
 - option for strings which must not be present in the output
 - repeat option so test must pass many times
 - elaborate diagnostic output
 - option to run under Valgrind (to provoke races)

The output from each test run is poked into a directory in /tmp

The number of runs a test took to fail is poked into a different file in /tmp, helping to tune the --autotest-test-passes parameter
 2021-02-04 16:22:28 +11:00
Peter Barker c2e310d75f autotest: add test for OBSTACLE_DISTANCE_3D message 2021-02-04 15:50:45 +11:00
Peter Barker 393ec5d6f7 autotest: add test for MAVProxy proximity sensor 2021-02-04 12:03:35 +11:00
Peter Barker cdaff74948 autotest: stop trying to arm in QRTL 2021-02-03 18:22:10 +11:00
Peter Barker f65bee80dc autotest: use BATTERY_STATUS to detect sub reboot 
Sub doesn't implement AP_Stats so we have custom reboot detection for
it.

The current look-for-string strategy is flawed - we're missing the
string on reboot
 2021-02-03 13:58:17 +11:00
Pierre Kancir e13a35abc1 Autotest: check for empty message before trying to use it 2021-02-03 12:56:01 +11:00
yaapu bb576a49b8 Tools: added autotest for frsky rpm telemetry 2021-02-03 12:49:38 +11:00
Samuel Tabor d1578e5ba2 autotest: Update soaring default params in line with specified SOAR_THML_BANK. 2021-01-29 11:20:09 -08:00
Pierre Kancir c02dfd1214 Autotest: add EndMissionBehavior Test for rover 2021-01-27 08:23:52 +09:00
Pierre Kancir 2b71bf8e99 Autotest: fix subtests completion 2021-01-27 08:27:54 +11:00
Andrew Tridgell d47afb2406 autotest: added AHRSTrim test and add trim to accel cal test 
this ensures the handling of AHRS trim is correct
 2021-01-25 16:24:50 +11:00
Peter Barker ad2ab333f9 Tools: autotest: allow autotest to connect directly to SITL 2021-01-24 09:25:45 +11:00
Peter Barker 8c7d63433c autotest: clear mission ourselves rather than with MAVProxy at end of test 2021-01-24 09:25:45 +11:00
Peter Barker 30836535d0 autotest: retry dynamic notch test up to 3 times 2021-01-22 11:17:42 +11:00
Peter Barker 2e2e34d784 autotest: correct run_one_test case (vehicle.testname case) 2021-01-21 22:59:34 +11:00
Peter Barker 1fec88af21 autotest: make arming test a little more verbose 2021-01-21 22:15:16 +11:00
Peter Barker 281296832a autotest: retry GyroFFTHarmonic test on failure 2021-01-21 16:45:34 +11:00
Peter Barker 3279400e2e autotest: disarm_with_rc_input shortcuts if it sees rudder-disarm-disabled 2021-01-21 14:25:47 +11:00
Peter Barker f452c6bb51 autotest: break out a statustext_in_collections method from wait_statustext 2021-01-21 14:25:47 +11:00
Andrew Tridgell 3add045924 autotest: fixed accel/gyro threshold consistency for tempcal 2021-01-21 13:09:21 +11:00
Andrew Tridgell fe7d933976 autotest: use delay_sim_time() in tempcal test 2021-01-21 13:09:21 +11:00
Andrew Tridgell 58b9cd2c6e autotest: added assert_reach_imu_temperature() abstraction 2021-01-21 13:09:21 +11:00
Andrew Tridgell 5a5ba26468 autotest: expanded accelcal test to check values 
this checks the resulting accelcal is correct within 1%
 2021-01-21 13:09:21 +11:00
Andrew Tridgell 3e640eed80 autotest: changes for per-IMU biases and scaling 2021-01-21 13:09:21 +11:00
Andrew Tridgell 4c315b57ca autotest: run gyro/accel cal at non-reference temperature 2021-01-21 13:09:21 +11:00
Andrew Tridgell 2cf7e7945c autotest: make tempcal debug output clearer 2021-01-21 13:09:21 +11:00
Andrew Tridgell 84dda13b42 autotest: use new learn param setup 2021-01-21 13:09:21 +11:00
Andrew Tridgell 30385fb8cb autotest: use set_parameters() in IMU temp cal test 2021-01-21 13:09:21 +11:00
Andrew Tridgell 0c3655b01f autotest: fixed epsilon handling in set_parameters 2021-01-21 13:09:21 +11:00
Andrew Tridgell 327db46c15 autotest: added automatic testing of IMU Temperature calibration 2021-01-21 13:09:21 +11:00
Peter Barker c7a6047904 autotest: add option to retry tests / create and use Test definition object 2021-01-21 10:23:17 +11:00
Peter Barker 03b2473c61 autotest: correct get_parameter_direct attempts decrement 2021-01-20 20:06:46 +11:00
Andrew Tridgell 7e89c05204 autotest: fixed --tracker option to sim_vehicle.py 2021-01-20 11:11:47 +11:00
Andrew Tridgell c396d15890 Revert "autotest: ensure defaults files don't set already-default-values" 
This reverts commit 3d431cd4f1.

It breaks MissionPlanner SITL. We can re-apply once MissionPlanner
copes with external_model.
 2021-01-20 08:54:43 +11:00
Peter Barker 04a52835c0 autotest: correct Rover set-position-target-global-int test 
The vehicles doesn't send us set messages!
 2021-01-19 21:16:39 +11:00
Peter Barker 1cb86303b4 Tools: add test for maxbotixi2cxl 2021-01-19 11:20:47 +11:00
Peter Barker 8eb670d685 autotest: trim default values from rover defaults files 2021-01-19 10:34:00 +11:00
Peter Barker 3d431cd4f1 autotest: ensure defaults files don't set already-default-values 
autotest: mark some vehicles as having external physics models

autotest: add default_params_filename to some vehicle info
 2021-01-19 10:34:00 +11:00
Peter Barker 7d86cc08ad autotest: correct SITL commandline for no default parameter file 2021-01-19 10:34:00 +11:00
Peter Barker 8f9d3909f1 autotest: model_defaults_filepath always returns a list 2021-01-19 10:34:00 +11:00
André 30eed3103b sim_vehicle fix 2021-01-19 06:30:12 +11:00
Peter Barker 210b0e7c5f autotest: stop emitting port 14550 all the time 
this can confuse other things going on on the same machine.  It is still
available by specifying --viewerip if desired
 2021-01-18 21:46:43 +11:00
Peter Barker 30929e7f1a autotest: add verbose option to assert_sensor_state 2021-01-18 21:25:58 +11:00
Peter Barker 2c0e3751a9 autotest: reboot after moving from EKF type 10 to EKF type 2 
Bad things happen with home set but origin not
 2021-01-18 20:48:11 +11:00
Peter Barker 662e86780b autotest: reduce motor vibration for landing 2021-01-18 20:14:08 +11:00
Peter Barker 6becd90df0 autotest: increase timeout on DO_CHANGE_SPEED test 2021-01-18 19:08:46 +11:00
Peter Barker 5848ff7512 autotest: eliminate race condition in plane fence static test 2021-01-18 16:32:21 +11:00
Peter Barker e9c6c08a97 autotest: remove 'make' compatability from sim_vehicle 2021-01-18 16:24:09 +11:00
Peter Barker 6865649b9b autotest: tidy and correct ekf lane switching test 2021-01-18 15:19:39 +11:00
Peter Barker ba1973d343 autotest: parse messages when setting parameters 
This breaks some tests which are waiting on statustexts while setting
parameters
 2021-01-18 15:19:39 +11:00
Peter Barker 48a38f3ee2 autotest: wait for GPS fix before installing position validation handling 2021-01-18 15:11:19 +11:00
Peter Barker 2d62fb99b1 autotest: force-disarm copter before reboot in GCS failsafe tests 2021-01-18 14:17:32 +11:00
Andrew Tridgell d9de0ef649 autotest: added copter-bfx params 2021-01-17 12:25:47 +11:00
Randy Mackay b18e5966f7 Tools: fixes from peer review as AHRS default changed to EKF3 2021-01-16 08:24:23 +09:00
Randy Mackay 2f51b59de4 Tools: copter test parameter validation waits 10sec before starting 
This allows the GPS driver to initialise which avoids an EKF3 source requires GPS failure
 2021-01-16 08:24:23 +09:00
Randy Mackay bb926a2976 Tools: autotest fly_gyro_fft disables EKF2 and EKF3 
fly_gyro_fft_harmonic also disables EKF2 and EKF3
 2021-01-16 08:24:23 +09:00
Randy Mackay f9e7d59756 Tools: Copter.ArmFeatures fixups for EKF3 
changed to disable the simulated GPS instead of disabling the driver
expected EKF flags are slightly different
 2021-01-16 08:24:23 +09:00
Randy Mackay 9c56b406be Tools: Copter.AltEstimation fixes 
disable baro so EKF has no altitude estimate
add check that mode change to ALT_HOLD failed
 2021-01-16 08:24:23 +09:00
Randy Mackay 1f8b48e8f7 Tools: common autotest spelling fix 
reach should be reached
 2021-01-16 08:24:23 +09:00
Randy Mackay f68f26e75d Tools: Copter.VisionPosition config for EKF3 2021-01-16 08:24:23 +09:00
Randy Mackay d2bdc949b2 Tools: Copter.OpticalFlowLimits checks altitude 2021-01-16 08:24:23 +09:00
Randy Mackay 0ba696f761 Tools: Copter.OpticalFlowLimits config for EKF2/3 2021-01-16 08:24:23 +09:00
Randy Mackay d00194c60a Tools: copter test_rangefinder_switchover config for EKF2/3 2021-01-16 08:24:23 +09:00
Randy Mackay bd8b85d1e5 Tools: remove ekf2 enable from copter defaults 2021-01-16 08:24:23 +09:00
Peter Barker cd8a393ac2 autotest: create own RC thread to handle setting of RC overrides 
autotest: prevent method-on-undef problem in case of early test failure

autotest: plumb MAVProxy rc input back in for switch test

autotest: close off rc thread in case of timeout
 2021-01-15 20:56:30 +11:00
Peter Barker 1dad0ecb46 autotest: disarm vehicle in case vibration test excepts 2021-01-13 19:46:13 +11:00
Peter Barker 47aea5f44c autotest: print stack traces for caught exceptions 2021-01-13 19:46:13 +11:00
Peter Barker e85e6d3375 autotest: use new set_parameters in place of many set_parameter calls 
autotest: use set_parameters for applying from parameter file

autotest: use set_parameters in place of many set_parameter calls
 2021-01-13 15:09:29 +11:00
Peter Barker 2917c75f35 autotest: add option to timeout parameter fetching in system time 2021-01-13 15:09:29 +11:00
Peter Barker 83f2f365c0 autotest: implement a more efficient set_parameters, implement set_parameter in terms of it 2021-01-13 15:09:29 +11:00
Peter Barker f478666700 autotest: correct scripting test for missing message 
The message could pass us by
 2021-01-13 12:24:17 +11:00
Peter Barker 8497f8fc73 autotest: correct some timeout issues around Copter takeoff 2021-01-13 12:24:17 +11:00
Peter Barker 0a39c49711 autotest: gpstovicon: reboot after setting new EKF type rather than before 2021-01-13 12:24:17 +11:00
Peter Barker 252b166099 autotest: reboot after Copter gyrofft test 
Really weird things happen if you switch from EKF2 to EKF10 - like your
home position being set but your origin not!
 2021-01-13 12:24:17 +11:00
Peter Barker e7aefc7fe4 autotest: make polling home position quiet by default 2021-01-13 12:24:17 +11:00
Peter Barker 5318538182 autotest: reboot SITL when moving from EKF10 to EKF2 in mag test 
Bad things happen when moving from one to the other...
 2021-01-13 12:24:17 +11:00
Peter Barker 987466bc3d autotest: increase timeout on avoidance-corners test 
Race conditions can mean angles are less than expected
 2021-01-13 12:24:17 +11:00
Peter Barker fdb5b5e6d6 autotest: correct dataflash transfer test for long periods 
This came in with a 35 second delay, which is rather spectacular given
the 5 second loop it is in.

2021-01-11T11:54:30.3046835Z dataflash_logger status
2021-01-11T11:54:30.3047406Z MANUAL> DFLogger: Active Rate(35s):408.788kB/s Block:65034 Missing:0 Fixed:0 Abandoned:0
2021-01-11T11:54:30.3048195Z Timed out looking for Active Rate\([0-9]s\):([0-9]+[.][0-9]+)
2021-01-11T11:54:30.3048801Z AT-0472.3: Exception caught: 60
 2021-01-13 12:24:17 +11:00
Peter Barker 3a264e0a76 autotest: use LOG_STRUCTURE_FROM as key string (don't need library name) 2021-01-12 17:44:24 +11:00
Pierre Kancir 409177d22a Tools: remove duplicate kg/m.m 2021-01-12 10:21:55 +11:00
Josh Henderson 0052e4d528 Tools: auotest add LOG_STRUCTURE_FROM_AHRS 2021-01-12 10:13:22 +11:00
Peter Barker 4d19ff6b26 autotest: prompt ArduPilot for SYSTEM_TIME message during reboot 
This helps us actually execute the timeouts appropriately and thus
re-fetch the STAT_BOOTCNT parameter we use for detecting the reboot

Eliminates annoying pauses during testing.
 2021-01-09 16:20:12 +11:00
Peter Barker 8e6d144d72 autotest: re-raise KeyboardInterrupt after closing pexpects 
this gives a stack trace, which is handy if the tests get caught
indefinitely somewhere
 2021-01-09 15:16:50 +11:00
Peter Barker 5120ebf2f6 autotest: add a set_parameters method 2021-01-08 23:51:33 +11:00
Andrew Tridgell ad29be14c6 autotest: added ARACE_hand location 2021-01-07 18:42:33 +11:00
Peter Barker 7474948971 autotest: add test for mavlink rangefinder out-of-range-low 2021-01-06 15:33:41 +11:00
Peter Barker fdd0297f12 autotest: add more tests for MAVLink rangefinder 
Allows for finer-grain control over what messages we're sending.
 2021-01-06 15:33:41 +11:00
Andrew Tridgell 7672f0a2ce autotest: added NDRCC field 2021-01-05 21:13:12 +11:00
Andrew Tridgell b5476c6e5c autotest: added ExternalAHRS test 2021-01-05 21:13:12 +11:00
Peter Barker 487f36146d Tools: add support for simulated TSYS01 temperature sensor 2021-01-05 12:01:51 +11:00
Peter Barker 6433647d9e autotest: add trivial autotest for TSYS01 temperature 2021-01-05 12:01:51 +11:00
Randy Mackay 66b2b988c4 Tools: update gps-vicon switching test params 2021-01-05 10:58:06 +11:00
Peter Barker 2240a60e20 autotest: add trivial test for set-position-target-local-ned 2021-01-05 08:13:02 +09:00
Peter Barker 53336595e1 autotest: add simple test for Rover set_attitude_target handling 2021-01-05 08:13:02 +09:00
hendjosh 7f999ef64a Tools: Change Cygwin default install location to Cygwin64 2021-01-03 09:49:05 +11:00
Andy Piper f702288ad2 autotest: correct number of logs 2021-01-02 22:30:08 +11:00
Andrew Tridgell 529bc6b77c autotest: fixed compatibility with python on wiki server 2021-01-02 16:34:29 +11:00
Peter Barker 65cffdad5a autotest: print stack traces when exceptions caught 2020-12-31 17:43:23 +11:00
Peter Barker 38ea62c5d7 autotest: send mode change messages directly rather than via MAVProxy 2020-12-31 17:43:06 +11:00
Peter Barker d31f676c33 autotest: don't use MAVProxy for uploading using fencepoint protocol 2020-12-31 17:42:50 +11:00
Peter Barker 2b06ae9aa0 autotest: create and use a wait_sensor_state method 2020-12-31 17:42:33 +11:00
Peter Barker 7c7fb67829 autotest: fixes for AFS test 2020-12-31 17:42:20 +11:00
Peter Barker 7f79ddf3ff autotest: CRSF: remove pointless wait-ready-to-arm 2020-12-31 17:42:06 +11:00
Peter Barker 6c48a38497 autotest: avoid zero-byte-read on log download 2020-12-31 17:39:53 +11:00
Peter Barker 6908a776fa autotest.py: timeout after 5400 seconds 2020-12-31 14:55:32 +11:00
Peter Barker 8abf9a82f3 autotest: reliability improvements for EKF failover tests 2020-12-31 14:49:25 +11:00
Andrew Tridgell 939d8509b2 autotest: added ARACE flight locations 2020-12-30 12:33:58 -08:00
Pierre Kancir 69fab70582 Tools: use lxml for xml generation 
fix caracters
fix indentation
validate xml
 2020-12-30 18:19:43 +11:00
Peter Barker 12505c4c28 autotest: add tests for new higher-channel override semantics 2020-12-29 15:03:34 +11:00
Peter Barker b53b30ea51 autotest: split out a get_rc_channel_value() 2020-12-29 15:03:34 +11:00
Peter Barker b02f0ee51f autotest: make Sub's setting of FS_GCS_ENABLE persist across wipes 2020-12-25 12:18:01 +11:00
Peter Barker 26bbedd777 autotest: remove un-needed parameter wipe after soaring test 2020-12-25 12:18:01 +11:00
Peter Barker 0a5eedb05a autotest: wipe and reinitialise parameters when resetting SITL commandline 
Should fix this scenario:
 - Plane soaring test uses different defaults file
 - soaring test sets a parameter away from default value
 - context pop sets it back to the value in the defaults file
 - it is now in permanent storage with the default found in the
different defaults file used by the soaring test
 - we finish running the soaring test an reset the SITL command line
back to default, with the old defaults file
 - we go on to running the next test.  At this point the value for that
parameter is the default in the defaults file used by the soaring test.

Something similar applies in the Callisto test.
 2020-12-25 12:18:01 +11:00
Peter Barker 0788b46374 autotest: add trivial test for Callisto 2020-12-25 12:18:01 +11:00
Peter Barker 5d23dc2314 autotest: avoid replicating enumeration value names from pymavlink 2020-12-24 00:22:52 +11:00
Pierre Kancir 06d6526ba6 Autotest: correct wait_distance_to_home comment 2020-12-24 00:22:52 +11:00
Pierre Kancir 824b9c1dc9 Autotest: add setpoint_target test for copter 2020-12-24 00:22:52 +11:00
Pierre Kancir 67533c3284 Autotest: add setpoint_target tests on rover 2020-12-24 00:22:52 +11:00
Pierre Kancir 6565309325 Autotest: add test_set_velocity_global_int tests 2020-12-24 00:22:52 +11:00
Pierre Kancir 10673122c0 Autotest: add test_set_position_global_int tests 2020-12-24 00:22:52 +11:00
Pierre Kancir 62a1fa1052 Autotest: add wait_speed_vector and wait yaw_speed functions 2020-12-24 00:22:52 +11:00
Pierre Kancir 0ca8e817d5 Autotest: wait_and_maintain add support of Vector3 2020-12-24 00:22:52 +11:00
Pierre Kancir dbaeb668f1 Autotest: add MAV_FRAME dictionary 2020-12-24 00:22:52 +11:00
Pierre Kancir 0bf7bd7f68 Autotest: add set_position mask to common.py 2020-12-24 00:22:52 +11:00
Peter Barker 662814d6bd autotest: reboot after running Copter vibe tests 
The EKF type (at the very least) requires a reboot to revert to its
original value.
 2020-12-22 23:51:54 +11:00
Peter Barker 69ef0937f4 autotest: add trivial test just to cover the Airspeed_DLVR code 2020-12-22 23:07:24 +11:00
Iampete1 6f92e6298a Tools: add Kg/m.m to param units 2020-12-22 11:00:59 +11:00
Randy Mackay d964fa2307 Tools: fixup EKF source pre-arm test 
although setting COMPASS_USE/2/3 to zero disables the pre-arm for EK3_SRCx_YAW = 1 (Compass) the pre-arm still triggers if EK3_SRCx_YAW = 3 (External Compass Fallback)
 2020-12-21 16:56:38 +09:00
Andrew Tridgell ba78fecaaa autotest: added Kris location 
helps with testing missions from Kris in China
 2020-12-21 12:05:50 +11:00
Peter Barker 4efcf16005 autotest: correct number of bytes we expect to download 
We request a fixed number of bytes, which could be more or  less than the
log file size.
 2020-12-18 13:35:15 +11:00
Peter Barker 8e71e2505a autotest: correct lookup for most recent log file 2020-12-18 13:35:15 +11:00
Randy Mackay 50f9eee54c Tools: relax fly_guided_stop climb rate tolerance to 1cm/s 2020-12-18 08:32:21 +09:00
Mike R 81745b0e64 Tools: Add Goretovka (RF, Moscow region) location 2020-12-18 08:04:41 +11:00
Peter Barker 76b0b0429f autotest: add another example on bisect helper 2020-12-18 07:48:34 +11:00
Pierre Kancir 7a2a60e65c Tools: rover: correct test_setting_modes_via_mavproxy_switch for RTL and AUTO 2020-12-16 17:27:07 +09:00
Pierre Kancir 871b9fc12d Tools: plane : initial_mode_switch_mode 2020-12-16 17:27:07 +09:00
Pierre Kancir e4707c20ea Tools: rover: add initial_mode_switch_mode 2020-12-16 17:27:07 +09:00
Pierre Kancir 9550721ae4 Tools: add initial_mode testing 2020-12-16 17:27:07 +09:00
Andrew Tridgell f10f7d971d Tools: added --vehicle-binary to sim_vehicle.py 
this is useful for using a pre-built binary
 2020-12-16 08:45:11 +11:00
Pierre Kancir 7d88d104b8 Tools: put Rover SlewRate test on disable list for now 2020-12-16 08:25:52 +11:00
Dr.-Ing. Amilcar do Carmo Lucas fb8e1f4b9d Tools: Added support for 1/s and kg/m/m parameter units 2020-12-15 18:22:36 +11:00
Paul Riseborough 4cf78c34e7 Tools: Add autotest for copter wind estimation and baro correction 2020-12-11 15:21:41 +11:00
Paul Riseborough a3b5901218 autotest: Fix failing copter fly_square test 
This test should be flown in ALT_HOLD, not  STABILIZE as that is better mode to test the record waypoint function becasue it removes the need to fine tune the RC3 value to match thrust/weight variation as the hover thrust is not learned fast enough at the start of the test.
 2020-12-11 15:21:41 +11:00
Paul Riseborough e835da41fa Tools: Define momentum drag 2020-12-11 15:21:41 +11:00
Andrew Tridgell 5fc68a1ce5 autotest: adjust for new baro SITL param names 2020-12-11 15:21:41 +11:00
Peter Barker 813723d0b7 autotest: add test for needing AHRS to be healthy to arm 2020-12-11 09:55:40 +11:00
Peter Barker 9ad2961664 autotest: allow regex for matching wait_statustext 2020-12-11 07:35:02 +11:00
Peter Barker 50957fff89 Tools: autotest: bisect-helper.py can run autotest by name 2020-12-11 07:35:02 +11:00
Randy Mackay 9803a70d3f Tools: copter autotest spelling and format fixes 2020-12-09 19:30:48 +09:00
Randy Mackay 665e6ccdcb Tools: copter GCS fs tests explicitly set FS_GCS_ENABLE and FS_OPTIONS 2020-12-09 19:30:48 +09:00
Peter Barker 0406b28abd autotest: print exception if caught in test_alt_estimate_prearm 2020-12-09 18:06:18 +11:00
Peter Barker cecdc798ca autotest: present strings for unexpected results in run_cmd_get_ack 2020-12-09 14:09:44 +11:00
Andrew Tridgell c6548cc1b9 autotest: fixed use of GND prefix 2020-12-08 13:22:17 +11:00
murata 2d55c2c42f pysim: Support for decacopters 2020-12-08 11:59:10 +11:00
murata a46333eff5 Tools: Support for decacopters 2020-12-08 11:59:10 +11:00
Peter Barker 768e3e7931 autotest: adjust Vicon test for new PREARM-checking code 
The new check that the prearms-passing bit from the autopilot
indicated prearms have passed was failing here because the yaw isn't
alighed until we frob channel 7.

The intent of the prearm seems ot have been to ensure we can get a
global position - that can be accomplished by polling the home position.
 2020-12-07 11:21:30 +11:00
Peter Barker 9207bd8a8a autotest: remove armability check from compass calibration test 
The new prearm-checking code has shown that we're not actually armable
after all!

Even the new prearm bit won't tell you if you can arm - you have to arm
to test that!
 2020-12-07 11:21:30 +11:00
Peter Barker 087300749c autotest: ensure we have position without being armable for compass cal check 2020-12-07 11:21:30 +11:00
Peter Barker 38e324f141 autotest: do not check prearm bit in dataflash-over-mavlink 
We won't be armable - but the other checks we make will ensure we get
the error we are looking for

Also use a more reliable way of draining the data from the autopilot
 2020-12-07 11:21:30 +11:00
Peter Barker 5707d8ecc0 autotest: check new MAV_SYS_STATUS_PREARM_CHECK in wait_ready_to_arm 2020-12-07 11:21:30 +11:00
Peter Barker be52e642f7 autotest: adjust Replay gps bit to make final logfile replayable 2020-12-03 17:28:26 +11:00
Peter Barker 17f806cdb9 autotest: add test for execution of button-bound functions 2020-12-01 10:06:57 +11:00
Peter Barker 12f001066b autotest: split out a wait_armed function 2020-12-01 10:06:57 +11:00
Peter Barker 211cd5255d autotest: tweak beacon test to be replay-friendly 2020-11-30 18:50:24 +11:00
Peter Barker 498b0b79a3 autotest: Replay tests OpticalFlow and Beacons 
autotest: run Replay on log generated by test.Copter.BeaconPosition

autotest: test OpticalFlow in replay tests
 2020-11-30 18:50:24 +11:00
Tom Pittenger 58c7f8279d Tools/autotest: fix CI by updating new ADSB_ENABLE->ADSB_TYPE param name 2020-11-30 16:05:17 +11:00
Tom Pittenger 2218f8292a Tools: remove ADSB param that is already default 2020-11-30 16:05:17 +11:00
Pierre Kancir cd98129022 Autotest: fix css loading for autotest.ardupilot.org 2020-11-28 19:14:16 +11:00
Randy Mackay bce3c551e7 Tools: sub set-position-target-global-int sends target once 2020-11-27 10:52:17 +09:00
Randy Mackay d63fe1eb6c Tools: sub set-position-target uses negative altitude 2020-11-27 10:52:17 +09:00
Pierre Kancir 07ffac429b Tools: rover: add test for slew rate 2020-11-25 17:49:20 +09:00
Peter Barker 9e20f4a68d autotest: add a test for compass yaw sources 2020-11-25 15:19:00 +11:00
Peter Barker 3f6b398a01 autotest: include EK2,EK3 and DAL LogStructures in code-defined messages 2020-11-24 15:33:37 +11:00
Peter Barker b788a172c8 autotest: add simple test for IE24 generator 
Tools: Modified richenpower autotest setup

autotest: IE24: Add error code failsafe test
 2020-11-24 12:54:52 +11:00
Peter Barker 935d39322c autotest: correct test for mode-change-reason change 2020-11-24 10:09:37 +11:00
Randy Mackay f257dc20d0 Tools: add test.Copter.GPSViconSwitching to CopterTests1d 2020-11-20 16:43:44 +09:00
Randy Mackay b6fe039a9f Tools: autotest for beacon sets EK3_SRC params 2020-11-20 16:43:44 +09:00
Peter Barker 29b913cd41 autotest: avoid using undefined fmt variable 2020-11-12 21:00:04 +11:00
Peter Barker 58bdae1b52 autotest: get Valgrind closer-to-working 
This gets us past the reboot problem for the most part, where Valgrind doesn't like you exec'ing
 2020-11-11 18:22:58 +11:00
Andrew Tridgell 00cfc1932f autotest: fixed arm delay in replay test 
thanks to Peter
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 5f669e22ff autotest: adjust optical flow speed test 2020-11-10 16:15:45 +11:00
Andrew Tridgell 1a1ca7cca7 autotest: fly a bit higher in optical flow test 
test was occasionally hitting the ground
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 025cf8f72b autotest: cleanup load_local_module 2020-11-10 16:15:45 +11:00
Andrew Tridgell 690af580c9 autotest: abstract out load_local_module() 
this will be useful for other tests
 2020-11-10 16:15:45 +11:00
Andrew Tridgell f674d124d6 autotest: use SITL replay 2020-11-10 16:15:45 +11:00
Andrew Tridgell 7b50780c5e autotest: fixed rmtree error in autotest 2020-11-10 16:15:45 +11:00
Andrew Tridgell a37cae5dae autotest: added test.Copter.Replay test 2020-11-10 16:15:45 +11:00
Andrew Tridgell 3dff0b3d58 autotest: removed dcm yaw test 
this should not be part of replay PR
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 403275beea autotest: added RBOH message 2020-11-10 16:15:45 +11:00
Andrew Tridgell 4a06641048 autotest: added RWOH message 2020-11-10 16:15:45 +11:00
Andrew Tridgell 7f0113b82d autotest: added REPH and REVH 2020-11-10 16:15:45 +11:00
Andrew Tridgell ef5baaf482 autotest: added ROFH msg 2020-11-10 16:15:45 +11:00
Andrew Tridgell 8ba067608b autotest: cope with LogStructure.h in multiple places 
and allow for no docs in replay msgs
 2020-11-10 16:15:45 +11:00
Andrew Tridgell 3ae237b652 autotest: started work on replay testing 2020-11-10 16:15:45 +11:00
Andrew Tridgell 161f2a8d2f autotest: improved error msg for missing doc fields 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2020-11-10 16:15:45 +11:00
bugobliterator c1dc6465cf Tools: add CANGPSCopterMission mission file 2020-11-04 19:59:40 +11:00
bugobliterator c72c96fa9c Tools: setup CI test for CANBus 2020-11-04 19:59:40 +11:00
Andrew Tridgell 3e3da61396 Tools: fixes from review feedback 2020-10-28 14:20:44 +11:00
Andrew Tridgell 16bede2d74 Tools: allow for -f Callisto as frame type 
loads json and params
 2020-10-28 14:20:44 +11:00
Andrew Tridgell 31e3fd0771 Tools: added battery capacity to Callisto model 2020-10-28 14:20:44 +11:00
Andrew Tridgell 1286c5f64e Tools: adjust quadplane tuning and QAssist test 
fixed roll RTL and land in QAssist test
 2020-10-28 14:20:44 +11:00
Andrew Tridgell 47bf3e2249 Tools: use max_err for alt wait in flip test 2020-10-28 14:20:44 +11:00
Andrew Tridgell 7820b402d6 Tools: tweak Qassist test to be more reliable 
disabling stall prevention should help with travis
 2020-10-28 14:20:44 +11:00
Andrew Tridgell 72d0730194 Tools: fixed flow speed test to be much more robust 
takeoff in ALT_HOLD so we don't overshoot as much, and calculate speed
limit based on actual alt
 2020-10-28 14:20:44 +11:00
Andrew Tridgell eacebb619a Tools: lower ALT_HOLD_RTL for quadplanes 
this speeds up a number of tests that end with an RTL
 2020-10-28 14:20:44 +11:00
Andrew Tridgell 1ea0daa95f Tools: adjust quadplane tuning 
prevent oscillation
 2020-10-28 14:20:44 +11:00
Andrew Tridgell da86dc8814 Tools: fixed FFT test thresholds for new tune 2020-10-28 14:20:44 +11:00
Andrew Tridgell d221756e2d Tools: fixed copter MOT params 2020-10-28 14:20:44 +11:00
Andrew Tridgell c7a60f57ad Tools: improved quadplane tuning 
and shorten GyroFFT log msgs so values can be seen in log
 2020-10-28 14:20:44 +11:00
Andrew Tridgell a95c2e9db3 Tools: fixed optical flow speed limit 
should be 10m/s, as per comment
 2020-10-28 14:20:44 +11:00
Andrew Tridgell 86c558e735 Tools: fixed fast climb in SuperSimpleCircle test 
1700 makes us climb much too far
 2020-10-28 14:20:44 +11:00
Andrew Tridgell ca6da722a9 Tools: adjust StabilityPatch test 
fixed to account for use of propeller expo in model
 2020-10-28 14:20:44 +11:00
Andrew Tridgell 4e553bcbde Tools: fixed Qassist test 
it was using the wrong roll angle for recovery, and relied on poor
tuning of old model to overshoot by 20 degrees
 2020-10-28 14:20:44 +11:00
Andrew Tridgell 98dacd5ee4 Tools: fixed wait_for_alt 
should be a min alt. This is needed for Flip test to pass with new
model, as it doesn't lose as much height as the old model. So it
starts above the min alt
 2020-10-28 14:20:44 +11:00
Andrew Tridgell 10a07bf4f9 Tools: added Callisto model from Leonard 2020-10-28 14:20:44 +11:00
Peter Barker 18330d16de autotest: add test for MAVlite 2020-10-27 10:17:53 +11:00
Pierre Kancir 87d9beab4f Autotest: firmware page: fix html 2020-10-24 10:30:09 +11:00
Pierre Kancir 45a35f9470 Autotest: fix html and use class on CSS 2020-10-24 10:30:09 +11:00
Pierre Kancir 60805fdfa3 Autotest: anonimize IP on ga on autotest page 2020-10-24 10:30:09 +11:00
Pierre Kancir 05d365f1a6 Autotest: remove jdrone logo from firmware server 2020-10-24 10:30:09 +11:00
Pierre Kancir 4ca8f6bf1e Autotest: fix githash on python 3 for firmware html page 2020-10-24 10:30:09 +11:00
Pierre Kancir de927691f2 Tools: remove empty fields in autotest.ardupilot.org 2020-10-24 10:30:09 +11:00
Buzz 586e9f80d5 AutoTest: break copter autotests into smaller "under 10 minute" chunks to speedup github actions CI 2020-10-21 18:01:47 +11:00
Patrick José Pereira cbc3384187 default_params: Sub: Add camera mount parameters 
Allow the usage of MOUNT_CONTROL in SITL

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-10-19 16:25:38 -04:00
Peter Barker 937d7bf335 autotest: add quiet option to drain_mav 2020-10-15 16:31:41 +11:00
Peter Barker 49fd762f26 autotest: fix and re-enable button test 
A recent commit to fix the setting-of-pullup-resistors in SITL makes it
possible to re-enable this.

Closes #15259
 2020-10-15 08:34:08 +11:00
Peter Barker d865c8553c autotest: loosen takeoff check in heli takeoff to 1m 
On the basis that random noise can make it drift 10cm
 2020-10-14 12:49:23 +11:00
Pierre Kancir dc8d42b12d Tools: expose option --sysid into sim_vehicle.py 2020-10-13 10:31:21 +11:00
Peter Barker 8f1e9ebc7f autotest: reset camera feedback rate if exception is raised 2020-10-12 13:48:15 +11:00
Peter Barker f9324d38c9 autotest: loosen groundspeed tolerance in guided-stop function 
Fixes current "Vehicle did not stop" problem
 2020-10-09 12:05:23 +11:00
Peter Barker b630aeeddf autotest: comment suspicious-looking latitude/longitude parameters 2020-10-08 17:23:09 +09:00
Peter Barker 750f1d4032 autotest: send position targets once 2020-10-08 17:22:29 +09:00
Peter Barker d13f6acc66 autotest: quieten mav draining 2020-10-08 17:21:35 +09:00
Pierre Kancir 774c8583b1 Tools: make apm.pdef.xml more readable. 2020-10-07 19:38:14 +11:00
Peter Barker 1d0735f206 autotest: add a poll_message method 2020-10-07 11:54:02 +11:00
Peter Barker 04633d7e1c autotest: if MODE_AUTO is disabled then we also need to disabled AFS 2020-10-06 11:25:09 +11:00
Samuel Tabor bd28a62155 autotest: Update soaring test for THERMAL mode. 2020-09-25 16:21:15 +10:00
Samuel Tabor fe6c4d9290 autotest: Update for THERMAL mode. 2020-09-24 07:30:48 +10:00
Peter Barker 536e2db947 Tools: sim_vehicle.py: add --disable-breakpoints commandline option 2020-09-23 20:28:08 +10:00
Peter Barker 64461dba5e autotest: fix Copter motortest test 
We were swallowing all of the rc output containing the values we were
looking for.

Rearrange so we don't swallow where we were, and increase timeout on the
basis that there's still a narrow race.
 2020-09-23 09:49:54 +10:00
Peter Barker 669622c614 autotest: improve use of SITL-is-running 
ATM if the SITL binary dies we don't catch it anywhere.  This might
become part of the solution for that, as well as some changes on
run_one_test.
 2020-09-22 21:11:57 +10:00
Peter Barker fdb31a6419 autotest: param_parse.py: validate @User field to be Standard or Avanced 2020-09-22 14:56:04 +10:00
Peter Barker 1075e13352 autotest: stop set_parameter from using get_parameter 
Setting a parameter on ArduPilot causes the autopilot to emit the new
value in a PARAM_VALUE message, so we do not need to fetch it ourselves.

Fetching it ourselves causes subtle problems for the autotest suite
where a PARAM_VALUE is currently in the uart buffer - so the autotest
set_parameter has consumed one PARAM_VALUE message (the auto-emitted
one).  If it immediately does a set_parameter then the next
PARAM_VALUE it sees will be the OLD value as the value comes out of the
uart.
 2020-09-15 19:27:36 +10:00
Peter Barker 9e148f245b autotest: param_parse.py: correct parsing of Values fields 
the regex used to parse the values field later is rather strict - no
spaces allowed around the : for example.

Canonicalise the string before trying to do anything more with it
(including validation)
 2020-09-15 11:09:52 +10:00
Andrew Tridgell 8b95fac214 Tools: added --Werror option to autotest.py 2020-09-15 09:40:03 +10:00
Peter Barker 3e882fcad8 autotest: loosen mag-percent-complete threshold to 95% 
So 98% wasn't loose enough...
 2020-09-11 15:31:45 +10:00
Harshit Kumar Sankhla f0c237d88e autotest: bug fixes for ekf lane switch test 2020-09-11 10:16:20 +10:00
Peter Barker 796cc72344 autotest: remove parameters with default values from copter.parm 
Setting these just takes time we don't need to spend
 2020-09-11 08:02:38 +10:00
Samuel Tabor 6de4967a3d autotest: Fix typos and unclear comments in soaring test. 2020-09-10 22:21:41 +10:00
Samuel Tabor f6017d60bf autotest: Update for new soaring behaviour. 2020-09-10 22:21:41 +10:00
Peter Barker 995cda6363 autotest: stop taking off when we're already in the air 
Depending on timing we can miss the fact we're already at altitude as we
take off in stabilize and manipulate the throttle before checking
altitude
 2020-09-10 10:39:30 +10:00
Peter Barker 0f5f040380 autotest: send all progress messages to autopilot 
These will be logged into dataflash and into the telemetry log
 2020-09-09 23:47:28 +10:00
bugobliterator d997ca8779 autotest: pass calibration test even if 98% complete before success 2020-09-09 23:46:23 +10:00
Peter Barker 51b54d3740 autotest: avoid leaving message hooks around 
Can lead to some very weird and confusing output
 2020-09-09 17:59:17 +10:00
Peter Barker 9228f47dc9 autotest: create collections-on-context to record selected messages 2020-09-08 14:19:08 +10:00
Peter Barker f3866e5f39 autotest: disable button test 2020-09-08 12:31:15 +10:00
Andrew Tridgell 7c5a0a6a43 Tools: disable LOG_REPLAY by default in autotest 
LOG_REPLAY prevents us logging when we have sensor failures, which
makes many tests hard to debug
 2020-09-08 11:01:14 +10:00
Andrew Tridgell 80ef6fa7f2 Tools: added a MagFail test 
ensures that both EK2 and EK3 will failover to a new compass on
compass failure
 2020-09-08 11:01:14 +10:00
Peter Barker d508ba97c5 autotest: add test for SmartRTL getting another GCS failsafe 
Test for specific bug where we would land instead of continue in
SmartRTL
 2020-09-08 09:05:03 +09:00
Samuel Tabor 3c0d4b6d5a autotest: Add start time argument and parsing. 2020-09-07 21:20:25 +10:00
Andrew Tridgell a9ecac4fff Tools: added --osdmsp option to sim_vehicle.py 2020-09-07 11:59:20 +10:00
Peter Barker 65268ee3d4 autotest: more button-test fixes 2020-09-06 16:49:16 +10:00
bugobliterator 6203e0685e autotest: disable MAG orientation test 2020-09-06 11:21:28 +10:00
Andy Piper 0b9d9fc284 autotest: use StringIO correctly 2020-09-06 09:12:59 +10:00
Andy Piper 6ebc7622fe autotest: comprehensive dataflash test 2020-09-05 10:20:39 +10:00
Peter Barker 2ea41b7997 autotest: spit out actual simulated mag orientations as part of debug 2020-09-03 13:08:07 +10:00
Peter Barker 5a8b1639d0 autotest: fix nmea output test 2020-09-02 10:05:26 +10:00
Peter Barker 522c3e6281 autotest: make LogUpload the last test again 
ATM any logs produced by EKFLaneswitch won't get uploaded in case of
failure
 2020-09-01 18:15:37 +10:00
Peter Barker 23ba2002e8 autotest: dump final mag cal report verbosely 2020-09-01 14:11:57 +10:00
Peter Barker 74c47827d9 autotest: drain stdout of SITL binary 
The new rate messages were filling up the stdout buffer, causing the
process to block....
 2020-08-30 08:38:35 +10:00
Peter Barker e8fa4e1351 autotest: disable autotest for altitude prearm check 2020-08-30 08:38:35 +10:00
Peter Barker 397e134106 autotest: quieten RTL 2020-08-30 08:38:35 +10:00
Peter Barker 065d03dd30 autotest: add a timeout in the button test 2020-08-30 08:38:35 +10:00
Peter Barker c01b26ca62 autotest: fix race condition in EKF type 10 
EKF type 10 is always able to give you a position - but the arming
checks require you to have a good GPS position, and that's something
else again.
 2020-08-30 08:38:35 +10:00
Peter Barker cafc5b01f4 autotest: fix race condition in Rover RTL test 2020-08-30 08:38:35 +10:00
Peter Barker 43cdceba8f autotest: tweak wait_ready_to_arm 2020-08-30 08:38:35 +10:00
Peter Barker b7641345e1 autotest: set and get parameters directly using mavlink message 2020-08-30 08:38:35 +10:00
Peter Barker ba91cbb270 autotest: correct sub parameter name PSC_VELZ_P, fix test to match 2020-08-30 08:38:35 +10:00
Pierre Kancir 084ec2bb5a Autotest: copter: fix wait_for_alt for descending wait 2020-08-29 14:53:30 +10:00
Pierre Kancir ebd13ac84e Tools: copter: wait_landed_and_disarmed: use wait_for_alt 2020-08-29 14:53:30 +10:00
Pierre Kancir 7fbf11061f Tools: copter: add wait_rtl_complete function 2020-08-29 14:53:30 +10:00
Pierre Kancir 3080899b43 Tools: copter: add wait land and disarm functions 2020-08-29 14:53:30 +10:00
Pierre Kancir 936511a720 Autotest: common: correct some text format 2020-08-29 10:44:19 +10:00
Pierre Kancir 5b72de25e0 Autotest: update wait_distance_to_home 
Autotest: copter: allow to pass min_distance for RTL

Autotest: rover: allow to pass min distance for RTL
 2020-08-29 10:44:19 +10:00
Harshit Kumar Sankhla 464c90a03c Tools: add an EKF3 lane switching test to plane 2020-08-27 20:20:51 +10:00
Pierre Kancir 16b499d0f6 Autotest: allow to select which GPS flags we want to wait for 2020-08-27 09:11:13 +10:00
Peter Barker 80bee19bc9 autotest: correct race condition in button test 
A BUTTON_CHANGE may have been emitted after we send the parameter but before it is processed by the autopilot
 2020-08-26 13:22:14 +10:00
Peter Barker 3ae83d70b1 autotest: ensure df log is present for rangefinder tests 
there may not be a current onboard log present if we've just rebooted
 2020-08-26 11:59:11 +10:00
Pierre Kancir 420587fb68 Tools: logger_metadata fix relative dir search 2020-08-25 20:01:27 +10:00
Pierre Kancir a181fcf8a2 Autotest: common: put generated parameter and LogMessage files into buildlogs directory 2020-08-25 20:01:27 +10:00
Peter Barker a523868b33 autotest: fix Beacon test 2020-08-25 17:21:50 +10:00
Andrew Tridgell 155b39bab3 autotest: added loiter-to-alt test mission 2020-08-25 10:39:18 +10:00
Randy Mackay 660579f2f4 Tools: fix copter beacon test params 2020-08-25 09:38:10 +09:00
Peter Barker 69d246d63e autotest: add test for priority-based compass reordering 2020-08-25 08:30:04 +10:00
Peter Barker bb697dd4b9 autotest: avoid using mavproxy for testing message intervals 2020-08-24 19:33:37 +10:00
Peter Barker a190490b64 autotest: do not rely on MAVProxy for sending banner request 2020-08-24 15:26:57 +10:00
Peter Barker 00bfe04539 autotest: remove duplicate recovery code from set-message-interval test 2020-08-24 14:00:38 +10:00
Peter Barker 03d0eda7f1 autotest: use a passthrough progress function for Telem objects 2020-08-24 13:24:41 +10:00
Peter Barker 67b71e2b94 autotest: add test for Plane dead-reckoning support 2020-08-21 18:16:40 +10:00
Pierre Kancir 8b92af732a Autotest: common: add wait_heartbeat to change_mode to clean up msg and give time to status to update 2020-08-21 13:35:51 +10:00
Pierre Kancir f73e4c0071 Autotest: copter: add test for mandatory alt estimation for Alt_hold 2020-08-21 13:35:51 +10:00
Peter Barker cddb5fb1cc autotest: use message hook when waiting for statustext 
Eliminates a race condition when waiting for statustexts.  Getting the
current sim time slurps messages.
 2020-08-21 12:26:12 +10:00
Pierre Kancir b7f46462f8 Autotest: common: reduce timeout on ArmFeature test 
This is unnessary to wait for 60s for failure, 15s is enough
 2020-08-21 09:13:32 +10:00
Peter Barker f14c9db568 autotest: improve debug around heli poshold takeoff test 2020-08-20 10:10:34 +10:00
bugobliterator c02c500ac5 param_metadata: add microseconds under known param type 2020-08-19 17:31:09 +10:00
Peter Barker a5aa963a77 autotest: fixes --tracker and --tracker-location sim_vehicle.py options 2020-08-18 15:26:03 +10:00
Mark Whitehorn a37b5c2c6b autotest: add rudder disarm checks for airmode 2020-08-18 11:42:34 +10:00
Pierre Kancir 0c3e9bbd4b Autotest: fix mavlink_time_boot format: should be int 2020-08-18 08:33:08 +10:00