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536 Commits

Author SHA1 Message Date
Andrew Tridgell
3e640eed80 autotest: changes for per-IMU biases and scaling 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
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
1cb86303b4 Tools: add test for maxbotixi2cxl 2021-01-19 11:20:47 +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
8f9d3909f1 autotest: model_defaults_filepath always returns a list 2021-01-19 10:34:00 +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
2d62fb99b1 autotest: force-disarm copter before reboot in GCS failsafe tests 2021-01-18 14:17:32 +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
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
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
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
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
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
Randy Mackay
66b2b988c4 Tools: update gps-vicon switching test params 2021-01-05 10:58:06 +11:00
Peter Barker
8abf9a82f3 autotest: reliability improvements for EKF failover tests 2020-12-31 14:49:25 +11:00
Peter Barker
0788b46374 autotest: add trivial test for Callisto 2020-12-25 12:18:01 +11:00
Pierre Kancir
824b9c1dc9 Autotest: add setpoint_target test for copter 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
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
Randy Mackay
50f9eee54c Tools: relax fly_guided_stop climb rate tolerance to 1cm/s 2020-12-18 08:32:21 +09:00
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
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
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
be52e642f7 autotest: adjust Replay gps bit to make final logfile replayable 2020-12-03 17:28:26 +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
Peter Barker
9e20f4a68d autotest: add a test for compass yaw sources 2020-11-25 15:19:00 +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
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