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1965 Commits

Author SHA1 Message Date
Peter Barker
e5395069f4 autotest: add test for angle q-assist 2020-07-01 20:57:32 +10:00
Peter Barker
53b6d1a639 autotest: wait for heartbeat when opening connection 
# need to wait for a heartbeat to arrive as then mavutil will
        # select the correct set of messages for us to receive in
        # self.mav.messages.  You can actually recieve messages with
        # recv_match and those will not be in self.mav.messages until
        # you do this!

Also, wait_heartbeat ignores heartbeats from e.g. MAVProxy
 2020-07-01 14:38:21 +10:00
Peter Barker
74c04271fa autotest: fix breakages for defaulting to mavlink2 
This highlights the fact that fetching rally points using the mission
item protocol does some when you're talking mavlink1 doesn't work out
well.

            # so this looks a bit odd; the other end isn't sending
            # mavlink2 so can't fill in the extension here.
 2020-06-30 21:58:48 +10:00
Andy Piper
4147f0cce3 autotest: test gains are saved by autotune 2020-06-30 20:09:48 +10:00
Peter Barker
7da5f7c9b5 autotest: disable Spline waypoint test 
The bug being exposed is causing too much noise in CI.
 2020-06-26 18:05:41 +09:00
Peter Barker
29e6f058a9 autotest: add test for scripting guided-steering-throttle example 2020-06-26 11:39:06 +10:00
Andy Piper
b4efb78315 autotest: rangefinder transition test 2020-06-24 21:16:50 +09:00
Peter Barker
3737c13784 autotest: allow message rates to be set by message name, not just ID 
Simply for convenience.
 2020-06-24 18:09:28 +10:00
Peter Barker
cd1198bf49 autotest: drain mav before attempting to run a command 
We're losing an arbitrary amount of data while getting the ACK, so it's
fine to lose whatever is in the buffer.
 2020-06-24 18:09:28 +10:00
Peter Barker
d0b97b89e7 autotest: add an assert_receive_message method 2020-06-24 18:09:28 +10:00
Peter Barker
bb14746517 autotest: re-enable Rover BendyRuler test 
This appears to now be working
 2020-06-24 08:53:04 +09:00
Andy Piper
c6415136ed autotest: add a test for dynamic harmonics 2020-06-21 19:09:35 +10:00
Peter Barker
d1170db4bf Tools: allow parameters to be specified on a per-vehicle basis 2020-06-16 11:21:47 +10:00
Peter Barker
ba5e4b8e37 autotest: python3 fix for fly_guided_move_to 2020-06-15 12:54:25 +10:00
Peter Barker
300e7ac2eb autotest: increase timeout on receiving mission-related messages 
... to silly proportions.
 2020-06-12 14:05:35 +10:00
Peter Barker
77e5236278 autotest: drain mavlink queue to avoid failing on slow MISSION_COUNT 
It was observed from a log of a failed CI test that the ACK from
clearing the rally items took 6 wallclock seconds to arrive.

We were not waiting for that ACK to arrive before sending the request
for the mission item count, but if it has taken more than six seconds
for the ACK to arrive it is reasonable to assume that MISSION_COUNT
could very well take more than the 10 seconds we allow for it.

If we drain the mav before sending the request for the mission count we
should remove any signficiant timing problem due to a backlog of mavlnk
messages, but the amount of traffic here is problematic.

Also drain in lots of other places where we might be spending way too
long parsing messages.
 2020-06-11 20:53:50 +10:00
Peter Barker
dc19dfaed8 autotest: fix several race conditions in RCOverride test 2020-06-11 08:30:32 +10:00
Peter Barker
e207bbdf2a autotest: fix SYSTEM_TIME stream detection function 
MAVProxy's output is read by autotest via pexpect.

SITL's output is read by MAVProxy.

If we don't read MAVProxy's stdout then it doesn't read SITL and
everything stops.

Also, since we need to drain pexpects as part of reboot, and applying
parameter files requires rebooting... we need to append the expect
objects to the global list before we apply parameter files.  So move
that call.
 2020-06-10 22:00:01 +10:00
Iampete1
579227d27a Tools: param.py add MB 2020-06-09 09:23:25 +10:00
bugobliterator
0528daecd8 autotest: increase timeout for compass calibration 2020-06-08 07:25:51 +10:00
Andrew Tridgell
7390846851 autotest: we need more than 1500 throttle for SimpleMode test 
we are in stabilize and flying around, needs more than half throttle
to maintain height. This test was already marginal, but addition of
pressure alt in SITL pushed it over the edge
 2020-06-05 11:35:53 +10:00
bugobliterator
a5e9da337a Tools: autotest: fix FixedYawCalibration 2020-06-05 09:38:40 +10:00
bugobliterator
2c3bd61eb4 autotest: remove older compass calibration test 2020-06-05 09:38:40 +10:00
Pierre Kancir
bd53796ed4 Tools: copter: add compass calibration testing 2020-06-05 09:38:40 +10:00
Pierre Kancir
2c7fc65fbd Tools: common.py: add generic compass calibration test 2020-06-05 09:38:40 +10:00
Pierre Kancir
b72a17533c Tools: common: add a method to try arming and wait a result 2020-06-05 09:38:40 +10:00
Pierre Kancir
59de90d97f Tools: common.py: make max_delta a paramter for verify_parameter_values 2020-06-05 09:38:40 +10:00
Peter Barker
6490a57179 autotest: move check_logs to be an AutoTest-class function 
This makes the AutoTest instance cognizant of the binary log files it is creating.  This will be useful for checking the contents of the log files created.
 2020-06-04 20:15:31 +10:00
Peter Barker
d08e9b3363 autotest: --list-subtests works for QuadPlane, Heli and BalanceBot 2020-06-04 10:13:57 +10:00
Peter Barker
6c67ddacf4 autotest: rename set_heartbeat_interval to set_heartbeat_rate 2020-06-04 01:11:28 +10:00
Peter Barker
4e216f976f autotest: assert that Plane doesn't support fence-via-mission-item-protocol 
Hopefully this starts to fail at some stage!
 2020-06-02 19:00:32 +10:00
Christian Clauss
b07fb05dde autotest: Use ==/!= to compare constant literals (str, bytes, int, float, tuple) 
Avoid SyntaxWarnings on Python >= 3.8

% `python3.8`
```
>>> "second" is "second"
<stdin>:1: SyntaxWarning: "is" with a literal. Did you mean "=="?
```
`flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics`
```
./Tools/autotest/arducopter.py:3899:20: F632 use ==/!= to compare constant literals (str, bytes, int, float, tuple)
                if loop is not "second":
                   ^
./Tools/autotest/arducopter.py:4047:20: F632 use ==/!= to compare constant literals (str, bytes, int, float, tuple)
                if loop is not "second":
                   ^
2     F632 use ==/!= to compare constant literals (str, bytes, int, float, tuple)
2
```
 2020-06-02 16:25:15 +10:00
Peter Barker
ffaa60b9ed autotest: stop emitting duplicate rangefinder headings 
This was only an issue for the Wasp rangefinder block, which drops stuff
in at the top level by specifying the same subgroup name as the top
level.
 2020-06-02 09:37:33 +10:00
Rajat Singhal
969a66fa01 Tools: autotest: Add Max RC input test for Rover 
Currently disabled since it triggers Arithmetic Exception
 2020-05-31 21:11:36 +10:00
Peter Barker
c474edbfbc autotest: attempt to make parameter download more reliable 
something is stopping parameters from being fetched.  Give it time to
clear.
 2020-05-30 10:11:07 +10:00
Peter Barker
adeb37581f autotest: fix heli for setpoint change 2020-05-29 14:53:12 +10:00
Peter Barker
aaef44858f autotest: add test for Heli stabilize-mode takeoff 2020-05-29 14:25:30 +10:00
Peter Barker
c44b760f3c autotest: explicitly run hello-world test and check for string 2020-05-28 13:49:47 +10:00
Peter Barker
b0916231b2 autotest: add tests for log download 2020-05-26 19:32:49 +10:00
Peter Barker
c8fdf9305b autotest: add test for quadplane stickmixing 2020-05-24 12:17:50 +10:00
Andy Piper
1358e39ffd autotest: test 256 FT windows and fix calculation of log-based FFT 
fix quadplane FFT reference calculation
re-enable harmonic test
use median for measuring in-flight FFT average as it's much more reliable
relax quadplane filter restriction
harmonic switching test
tighten frequency check and loop twice to avoid heisenbugs
 2020-05-24 07:43:34 +10:00
Peter Barker
605672b631 autotest: round frsky altitude rather than truncate 
Closes https://github.com/ArduPilot/ardupilot/issues/14431
 2020-05-23 17:40:24 +10:00
Arash Negahdar
a7768aabae Tools: Expose more options to SCRIMMAGE 2020-05-21 08:04:23 +10:00
Peter Barker
1f1383ab64 autotest: add quadplane test for qassist 2020-05-20 18:39:42 +10:00
Peter Barker
f9c86bbfd0 autotest: ensure cached timestamp is up-to-date for run_cmd_get_ack 
If a long-running process drains the mavlink stream rather than parsing
it then the cached timestamp can be very, very out-of-date.  When we
next receieve a timestamp, then, there can be a signficant change in
time when we weren't expecting it.

run_cmd_get_ack can't use get_sim_time() as it might swallow the ack it
is looking for.
 2020-05-19 19:12:41 +10:00
Peter Barker
b857002158 autotest: drain mav before checking EKF values 
May be getting stale values from this function
 2020-05-19 19:12:41 +10:00
Peter Barker
d51d6752e5 autotest: drain mav before delay 
We're seeing suspiciously low wall-clock delays.
 2020-05-19 19:12:41 +10:00
bugobliterator
183e50b31f autotest: fix autotest on mac os x 2020-05-17 16:12:43 +10:00
Peter Barker
c0fae0b1fb autotest: disable GyroFFT test; underlying issue being actively worked on 2020-05-15 16:02:41 +10:00
Peter Barker
dec615bfb5 autotest: drain SITL pexpect when waiting for parameter 
This is important when rebooting as the ArduPilot process can block on
sending to stdout, which pexpect is reading from.  While rebooting we're
waiting for a parameter to be reset to a different value in this loop,
which could take quite some time.
 2020-05-15 16:02:09 +10:00
Peter Barker
f6b121ad87 autotest: add tests for logging 2020-05-15 16:02:09 +10:00
Andrew Tridgell
8c59eb58bb Tools: added generic copter CMAC mission 2020-05-09 12:33:33 +10:00
Andy Piper
8f864f02fb autotest: 256 windows don't currently work 2020-05-06 10:14:30 +10:00
Andy Piper
db4a612c13 autotest: test 256 FT windows and fix calculation of log-based FFT 
fix quadplane FFT reference calculation
re-enable harmonic test
use median for measuring in-flight FFT average as it's much more reliable
relax quadplane filter restriction
 2020-05-06 10:14:30 +10:00
Peter Barker
1c7354c321 autotest: improve mount debug 2020-05-05 20:51:23 +10:00
Peter Barker
b312260be3 autotest: add timestamp to progress message 2020-05-05 11:09:43 +10:00
Peter Barker
bd0ebb5778 autotest: accept statustext and ack in any order for mission errors 
Accept statustext/ack in any order; statustext may come after ack
 2020-05-04 18:42:18 +10:00
Peter Barker
ebc781ba3a autotest: switch to looking for barometer update string for passthrough test 
MAVProxy can fetch parameters using FTP rather than normal param
mechanism.  Currently this does not emit any of our statustext
information - like the text we're looking for in this test
 2020-05-04 10:07:38 +10:00
Peter Barker
d197fd4acf autotest: fix rare, random failure in GCSRally test 
Notionally the statustext could be put aside and we could not have room
for it, so we see the ack first.
 2020-05-04 00:22:54 +10:00
Peter Barker
475027e03a Tools: autotest.py: add --enable-math-check-indexes 2020-04-28 15:12:39 +10:00
Peter Barker
cb3c1742e8 Tools: sim_vehicle.py: add --enable-math-check-indexes 2020-04-28 15:12:39 +10:00
Arash Negahdar
7de136121b Tools: Exit cleanly based on the environment 
As suggested by Peter Barker
 2020-04-28 11:09:51 +10:00
Arash Negahdar
908b63573e Tools: Implement better Scrimmage support 2020-04-28 11:09:51 +10:00
Arash Negahdar
e75ac4ae57 Tools: Allow multiple ArduPilot instances to be spawned 2020-04-28 11:09:51 +10:00
bnsgeyer
bf86059229 Tools: update tradheli sitl default param file 2020-04-28 10:45:33 +10:00
Andy Piper
dd987c9a19 autotest: new harmonic notch test 2020-04-28 09:32:02 +10:00
Peter Barker
864717310d autotest: allow specification of EKF type to use on commandline 2020-04-24 13:37:47 +10:00
Peter Barker
c6cf809041 autotest: correct some parsing-out-of-logging-message 2020-04-22 21:10:55 +10:00
Samuel Tabor
913e5a23fe autotest: Add method to get default params for model. 2020-04-22 10:01:09 +10:00
Peter Barker
39032459d1 autotest: add explicit test for mavlink rangefinder 2020-04-21 20:44:59 +10:00
Mark Whitehorn
0e6ae6c5b4 Tools:autotest: add AAMWestField location 2020-04-20 10:08:17 +09:00
Peter Barker
e63e5ba130 autotest: correct path to defaults file when customising SITL cmdline 2020-04-19 11:09:16 +10:00
Samuel Tabor
e30f0a9173 autotest: Move soaring test into plane. 2020-04-19 11:09:16 +10:00
Peter Barker
52227872d2 autotest: rover: skidsteer: fix defaults file path 2020-04-18 21:51:16 +10:00
Stephen Dade
49d19e1aac Tools: Python3 and kill_tasks fixes for sim_vehicle under Cygwin 2020-04-17 10:32:25 +10:00
Peter Barker
7c20a1ee05 autotest: rename apmrover2.py to rover.py 2020-04-15 19:29:04 +10:00
Peter Barker
efb5ad2f1c autotest: correct checking of downloaded file 
First time we've tried to round-trip a mission file with comments it it

New frames used by new mission files need stuff to be ignored
 2020-04-15 16:24:40 +10:00
Peter Barker
899b98b2f9 Plane: add test for loading/restoring large missions 2020-04-15 16:24:40 +10:00
Andrew Tridgell
7ad8ea017c autotest: make column ordering in rst gen stable 
needed for cache of param builds
 2020-04-15 15:11:21 +10:00
Peter Barker
0e40d1cb6b autotest: correct key for Rover -> APMrover2 in skidsteer test 2020-04-14 15:09:17 +10:00
Peter Barker
10e8f3f3d7 autotest: canonicalise on defaults_filepath rather than defaults_file 
This naming better represents the fact this isn't just a filename.
 2020-04-14 15:09:17 +10:00
Samuel Tabor
c4e255fa5f autotest: Fix key error 2020-04-14 15:09:17 +10:00
Peter Barker
332a19d9dc autotest: sim_vehicle.py: add backwards-compatible APMrover2 option 2020-04-14 09:50:34 +09:00
Peter Barker
2088446ebf Tools: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Peter Barker
691ae58a79 Tools: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Andrew Tridgell
685d26c808 Tools: added --disable-ekf2 and --disable-ekf3 in sim_vehicle.py 2020-04-14 09:15:43 +10:00
Peter Barker
d43fc591c3 autotest: add skidsteer test 2020-04-12 20:34:26 +10:00
Peter Barker
9511fa59ec autotest: permit specification of frame as part of customing cmdline 2020-04-12 20:34:26 +10:00
Peter Barker
e0380fc9be autotest: improve debug information for missing fields 2020-04-12 08:36:48 +10:00
Andrew Tridgell
845755dd3d Tools: removed GPS_POS vars from defaults 2020-04-11 21:14:31 +10:00
Willian Galvani
a1dcb8e3c1 Tools: use html.escape instead of cgi.escape 
cgi.escape has been deprecated since Python 3.2
https://docs.python.org/3.5/library/cgi.html#cgi.escape
 2020-04-10 15:40:01 +10:00
Randy Mackay
f78d8b009a Tools: enable visual odometry for fly_vision_position test 2020-04-09 19:41:08 +09:00
Pierre Kancir
07435cc541 Tools: correct path for soaring mission 2020-04-09 09:01:03 +10:00
Pierre Kancir
d5aec30a7d Tools: update path for antenna tracker test missions files 2020-04-09 09:01:03 +10:00
Pierre Kancir
77ee15bfa1 Tools: finish clean up path 2020-04-09 09:01:03 +10:00
Pierre Kancir
81274018c3 Tools: update path for sub test missions files 2020-04-09 09:01:03 +10:00
Pierre Kancir
4eceef1cef Tools: update path for rover test missions files 2020-04-09 09:01:03 +10:00
Pierre Kancir
bcd15bc6e4 Tools: update path for plane test missions files 2020-04-09 09:01:03 +10:00
Pierre Kancir
24a2bc3b0e Tools: update path for copter test missions files 2020-04-09 09:01:03 +10:00
Pierre Kancir
5b26df5780 Tools: put Mission files into right directories 2020-04-09 09:01:03 +10:00