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765 Commits

Author SHA1 Message Date
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
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
cc83562add autotest: tidy fence handling 2021-03-02 16:54:06 +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
10007e2e42 autotest: load missions natively rather than using MAVProxy 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
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
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
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
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
dcc04ccd09 autotest: stop using MAVProxy to change modes 2021-02-18 17:38:52 +11:00
Peter Barker
b1ccf3b3f8 autotest: add test for rangefinder-based proximity avoidance enablement 2021-02-18 15:05:51 +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
dbdda65956 autotest: add basic test for GPS blending 2021-02-17 11:30:01 +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
ad2ab333f9 Tools: autotest: allow autotest to connect directly to SITL 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
281296832a autotest: retry GyroFFTHarmonic test on failure 2021-01-21 16:45:34 +11:00
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
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
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
3ae237b652 autotest: started work on replay testing 2020-11-10 16:15:45 +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
47bf3e2249 Tools: use max_err for alt wait in flip test 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
da86dc8814 Tools: fixed FFT test thresholds for new tune 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
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
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
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
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
1d0735f206 autotest: add a poll_message method 2020-10-07 11:54:02 +11:00
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
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
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
f3866e5f39 autotest: disable button test 2020-09-08 12:31:15 +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
Andy Piper
6ebc7622fe autotest: comprehensive dataflash test 2020-09-05 10:20:39 +10:00
Peter Barker
e8fa4e1351 autotest: disable autotest for altitude prearm check 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
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
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
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
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
Peter Barker
a523868b33 autotest: fix Beacon test 2020-08-25 17:21:50 +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
Pierre Kancir
f73e4c0071 Autotest: copter: add test for mandatory alt estimation for Alt_hold 2020-08-21 13:35:51 +10:00
Peter Barker
f14c9db568 autotest: improve debug around heli poshold takeoff test 2020-08-20 10:10:34 +10:00
Pierre Kancir
acc4a1db3f Autotest: remove special case for vicon and default vicon for copter to false 2020-08-17 21:17:26 +10:00
Pierre Kancir
fa4a01e8f9 autotest: copter: don't use raw reboot on fly_battery_failsafe() 2020-08-14 09:42:52 +10:00
Pierre Kancir
3c6d1a359a autotest: copter: catch exception on test_battery_failsafe to reset parameters 2020-08-13 12:09:23 +10:00
Pierre Kancir
5fe81706bb autotest: copter: catch exception on test_gcs_failsafe to reset parameters 2020-08-13 12:09:23 +10:00
Pierre Kancir
9c41462bf6 Tools: copter: correct flip test 2020-08-13 10:37:02 +10:00
Peter Barker
9cd5fdacfc Tools: autotest: add a test for motor test 2020-08-10 09:18:05 +10:00
Peter Barker
e51427a2bc autotest: add a test to ensure we get voltage from generator in battery_status message 2020-08-07 14:46:20 +10:00
Peter Barker
77df7c7a39 autotest: autotest the MaxBotixI2CXL i2c rangefinder code 2020-08-07 08:52:00 +10:00
Peter Barker
07abb3ab6a autotest: extend RichenPower test 2020-08-05 16:26:19 +09:00
Rishabh
bac3660fca Tools: Push autotune switch test to run after avoidance tests 2020-08-05 15:37:04 +09:00
Rishabh
cf04a01389 Tools: Increase timeout for avoidance autotest 2020-08-05 15:37:04 +09:00
Peter Barker
39f16c4679 autotest: reboot SITL after running autotune switch test 2020-07-24 20:49:12 +10:00
Andy Piper
a00b5cb770 autotest: db's are negative so check dynamic notches the right way 2020-07-18 19:09:33 +10:00
Andy Piper
229036b4ae autotest: run dynamic notch twice to avoid statistical anomolies 
relax notch tests attenuation levels
 2020-07-16 13:18:32 +10:00
Peter Barker
2c1d77bf8f autotest: test simulated ship takeoff 2020-07-10 13:28:38 +10:00
Peter Barker
6eb1d289b8 autotest: add trivial test for CRSF in copter 2020-07-07 18:48:06 +10:00
Peter Barker
977ec1a7d6 autotest: SuperSimpleCircle: increase throttle while rolling in stab 
We're hitting the ground...
 2020-07-04 17:18:37 +10:00
Peter Barker
b8c2b16394 autotest: autotest gyus42v2 rangefinder 2020-07-04 13:40:10 +10:00
Peter Barker
560b4a9847 autotest: fix race condition between switch message and rc output 2020-07-03 22:06:48 +10:00
Peter Barker
96e500fe49 autotest: correct heli rebase issue 2020-07-03 12:07:06 +10:00
Peter Barker
717dabfe69 autotest: remove heat model for generator 2020-07-03 08:21:42 +09:00
Peter Barker
bac60e0d3a autotest: add simple tests for richenpower generator 2020-07-03 08:21:42 +09:00
bnsgeyer
1191a5e1ea Tools: Tradheli add rotor_runup_complete_checks 2020-07-02 21:49:40 +10:00
Peter Barker
332c73d168 autotest: reboot before running Copter ModeCircle test 
This shouldn't be required, but CI is falling over too much.
 2020-07-02 18:40:11 +10:00
Peter Barker
de226c69ab Tools: add simulated LightWare serial lidar talking new binary protocol 2020-07-02 10:50:59 +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
Andy Piper
b4efb78315 autotest: rangefinder transition test 2020-06-24 21:16:50 +09:00
Andy Piper
c6415136ed autotest: add a test for dynamic harmonics 2020-06-21 19:09:35 +10:00
Peter Barker
ba5e4b8e37 autotest: python3 fix for fly_guided_move_to 2020-06-15 12:54:25 +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
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
Peter Barker
6c67ddacf4 autotest: rename set_heartbeat_interval to set_heartbeat_rate 2020-06-04 01:11:28 +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
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
b0916231b2 autotest: add tests for log download 2020-05-26 19:32:49 +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
c0fae0b1fb autotest: disable GyroFFT test; underlying issue being actively worked on 2020-05-15 16:02:41 +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
Andy Piper
dd987c9a19 autotest: new harmonic notch test 2020-04-28 09:32:02 +10:00
Peter Barker
39032459d1 autotest: add explicit test for mavlink rangefinder 2020-04-21 20:44:59 +10:00
Randy Mackay
f78d8b009a Tools: enable visual odometry for fly_vision_position test 2020-04-09 19:41:08 +09:00
Pierre Kancir
24a2bc3b0e Tools: update path for copter test missions files 2020-04-09 09:01:03 +10:00
Peter Barker
cbe1dba781 autotest: loosen slowdown constraint on zigzag test 2020-04-02 09:39:27 +11:00
Peter Barker
f450df18b0 autotest: allow more time to loiter to ne in precision test 2020-04-01 21:51:22 +11:00
Pierre Kancir
aec5ae91fa Tools: adjust zigzag timing to pass test 2020-03-27 22:13:52 +11:00
Pierre Kancir
3f441e61cd Tools: copter : make zigzag more verbose 2020-03-27 22:13:52 +11:00
Pierre Kancir
aba594fe2d Tools: copter: update exception for rangefinder test 2020-03-27 22:13:52 +11:00
Pierre Kancir
1689714a5c Tools: copter: add more verbose on fly_guided_change_submode 2020-03-27 22:13:52 +11:00
Pierre Kancir
e4eebce5a6 Tools: update arducopter.py to use new wait functions 2020-03-27 22:13:52 +11:00
Peter Barker
92d2186b95 autotest: don't use self.mav.motors_disarmed_wait as it blocks forever 2020-03-17 16:31:29 +11:00
Andy Piper
718a6593e6 autotest: disable harmonic FFT test 2020-03-13 21:10:56 +11:00
Andy Piper
7c1757bab4 autotest: separate out harmonic matching test 
be more forgiving about harmonic fit detection due to imperfect simulation
use the fft length to determine how accurate the frequency match should be
 2020-03-13 21:10:56 +11:00
Andy Piper
de55e4dcc2 autotest: disable harmonic matching test 2020-03-07 20:44:52 +11:00
Andy Piper
eb0923a018 autotest: separate out harmonic matching test 2020-03-07 20:44:52 +11:00
Peter Barker
3fac5ad52c autotest: loosen gyro fft test to avoid spurious CI failures 2020-03-01 20:51:26 +11:00
Peter Barker
cb8d623624 autotest: add test for fixed yaw calibration 2020-02-29 16:25:30 +11:00
Andy Piper
ee18db36fa autotest: be more lenient on frequency with harmonic matching test 2020-02-25 08:35:09 +11:00
Peter Barker
b3bfc0bd32 autotest: add instant-disarm radio failsafe test 2020-02-24 12:25:42 +11:00
Peter Barker
82f53abee2 autotest: restore fly.ArduCopter as running all tests 
the test list for ArduCopter is made up of those from tests1 and tests2
 2020-02-22 16:51:39 +11:00
Andy Piper
05a0fe615b Tools: split Copter tests into two runs to balance time on travis 2020-02-22 11:15:37 +11:00
Andy Piper
ba67ad39a0 Tools: quadplane test 2020-02-22 11:15:37 +11:00
Andy Piper
88f0c26636 Tools: add CMSIS DSP module to waf for M4 ChibiOS and control inclusion of FFT based on HAL_WITH_DSP and GYROFFT_ENABLED. target appropriate ARM cpus 
sophisticated autotest for Gyro FFT
 2020-02-22 11:15:37 +11:00
Pierre Kancir
e1d8148cc0 autotest: Python correctness fixes 
Tools: common: correct copy shadowing in set_rc_from_map

Tools: common: comment out unused code

Tools: common: remove iteritem usage for py3

Tools: common: remove duplicate key in FRSkySPort id description for GPS

Tools: rover: correct type shadowing

Tools: rover: make expected_distance_epsilon float

Tools: rover: comment out unused code

Tools: rover: correct variable shadowing on my_message_hook

Tools: copter: correct variable shadowing

Tools: common: use Bool for port.setblocking

Tools: common: fix variable shadowing
 2020-02-22 10:37:29 +11:00
Peter Barker
fa33719da6 autotest: improve distance-from-home debug 2020-02-14 16:36:12 +11:00
Peter Barker
fd8088f1e5 autotest: add Copter tests for altitude change on arm 2020-02-08 11:06:03 +11:00
Peter Barker
0ea4e150db autotest: add test for gimbal range issue 2020-01-31 14:20:07 +11:00
Peter Barker
a9e288a335 autotest: improve clarity by breaking apart calculations for mount pitch 2020-01-31 14:20:07 +11:00
Peter Barker
346471258b autotest: add test for mot_pwm validation 2020-01-30 14:49:16 +09:00
Peter Barker
0c85200b18 autotest: test diagonals and off-diagonals are set by magcal test 2020-01-25 11:32:27 +11:00
Peter Barker
91b01a3eb2 autotest: fix integer vs float issues for Python3 2020-01-18 12:52:31 +11:00
Peter Barker
61d5a94c45 autotest: add test for autorotation 
It actually hits harder with autorotate enabled with this setup...
 2020-01-01 22:10:43 +11:00
Andy Piper
0be0e93534 Tools: use pre-filtered values in motor vibration test and use more realistic values for noise 2019-12-31 10:34:02 +11:00
Peter Barker
3ffdfc7302 autotest: correct parachute test 2019-12-24 15:27:39 +11:00
Andrew Tridgell
6d981ce733 autotest: disable MotorVibration test 2019-12-18 21:08:19 +11:00
Randy Mackay
21ea7902cf Tools: copter tests replace TERRAIN_FOLLOW with RTL_ALT_TYPE 2019-12-17 20:02:01 +09:00
Andy Piper
39e948a40a Tools: add motor vibration test and support for post-test fft 
perform FFT analysis on vibration output
 2019-12-17 10:07:06 +11:00
Peter Barker
5b45931728 autotest: test buttons on Plane and Copter as well as Rover 2019-12-10 09:29:52 +09:00
Peter Barker
fecca9a559 autotest: add tests for serial RangeFinder drivers 2019-12-03 09:07:09 +11:00
Peter Barker
29fda1681b Tools: add test for mount targetting 2019-11-12 07:52:22 +08:00
Peter Barker
48657dd2c9 autotest: replace setHeartbeat(bool) with setHeartbeat(float) 
We don't do heartbeats at 1Hz - we do them at the speedup rate.
 2019-11-08 19:49:46 +11:00
Peter Barker
ece59f8233 autotest: replace wait_seconds with delay_sim_time 
These did exactly the same thing
 2019-11-08 19:49:46 +11:00
Peter Barker
2dd47e54e7 autotest: remove default True parameter to setHeartbeat 2019-11-08 19:49:46 +11:00
Peter Barker
74eb6760ea autotest: correct setHeatbeat -> setHeartbeat 2019-11-08 19:49:46 +11:00
Peter Barker
9605639070 autotest: loosen check on follow-mode check 2019-11-05 19:55:45 +11:00
Peter Barker
f177679e61 autotest: add more tests for mount behaviour 2019-11-05 19:55:45 +11:00
Matt Lawrence
8d2a624fcc Autotest: Refactor failsafe tests 2019-11-03 07:07:34 +08:00
Peter Barker
ec9eaeab10 autotest: increase allowed time for receiving ack to compass-cal cmd 
Saw an instance of this timeout happening on the server
 2019-10-18 12:24:40 +11:00
Andy Piper
f02d21811d Tools: autotest dynamic notches 2019-10-10 20:26:02 +09:00
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
Peter Barker
a386048be7 Tools: autotest: add two basic tests for radio failsafe 2019-09-26 15:19:10 +10:00
Peter Barker
642935fd43 Tools: random Python cleanups based on lgtm analysis 2019-09-21 22:26:03 +10:00
Peter Barker
de3c9340cb Tools: autotest: correct timeout on heli spline mission 2019-09-19 22:39:10 +10:00
Peter Barker
1a7284ca73 Tools: autotest: add test for spline-as-last-waypoint 2019-09-17 09:05:23 +09:00
Peter Barker
36ba3a6e4c Tools: autotest: add test for follow mode 2019-09-16 12:00:11 +10:00
Peter Barker
479b2c5e11 Tools: autotest: allow nav-delay-abstime to delay arbitrary time 2019-08-21 16:08:24 +10:00
Peter Barker
bf0a947317 Tools: autotest: improve test diagnostics 2019-08-08 08:35:52 +10:00
Peter Barker
acf6cb8d75 Tools: autotest: rename clear_mission to clear_mission_using_mavproxy 2019-08-06 17:05:57 +10:00
Peter Barker
bca35ac469 Tools: autotest: stop trying to arm Heli in throw mode 2019-08-06 17:05:41 +10:00
Peter Barker
12b9928a56 Tools: autotest: break out a load_fence function 2019-08-05 16:37:08 +10:00
Andrew Tridgell
cee7cce1ca autotest: update vision position test for new msg 2019-08-05 13:58:08 +10:00
Pierre Kancir
12cb09a3f4 Tools: factorize sitl rangefinder setup 2019-07-11 11:52:44 +10:00
Pierre Kancir
daaf769055 Tools: add arm/disarm testing on all modes 2019-07-11 11:42:45 +10:00
Pierre Kancir
9850d1afec Tools: update with flake8 
W605 invalid escape sequence '\s'
F402 import 'time' from line 10 shadowed by loop variable
E101 indentation contains mixed spaces and tabs
E703 statement ends with a semicolon
 2019-07-09 12:46:39 +10:00
Peter Barker
e36231d547 Tools: autotest: loosen distance check when looking for lower point 2019-07-01 20:08:35 +10:00
Peter Barker
89ef13d32e Tools: autotest: reference issue in disabled beacon test 2019-07-01 12:12:43 +10:00
Peter Barker
5b14be92e6 Tools: autotest: change beacon test to use EKF3 2019-07-01 07:20:58 +09:00
Peter Barker
b22fccd35d Tools: autotest: add test for beacon navigation 2019-07-01 07:20:58 +09:00
Peter Barker
6442dd1f2f Tools: autotest: make vision position test more reliable 2019-06-29 10:49:20 +10:00
Peter Barker
1827d88f9a Tools: autotest: use set_parameter for setting glitch offsets 
This state was persistent across tests, which wasn't helping for
consistency.
 2019-06-21 13:50:55 +10:00
Peter Barker
98cb68157f Tools: autotest: add a test for Copter surface tracking 2019-06-21 13:50:55 +10:00
Peter Barker
326e208123 Tools: autotest: allow switch to debounce in aux-switch test 2019-06-14 10:40:52 +10:00
Peter Barker
23f5fabbcf Tools: autotest: add tests for aux-switch options for mission reset and clear 2019-06-13 19:37:32 +10:00
Peter Barker
10120cee54 Tools: autotest: disable horizontal fence avoidance test showing bugs 2019-06-07 15:26:39 +10:00
Peter Barker
6e13adb43c Tools: autotest: add test for fence Avoidance 2019-06-07 15:26:39 +10:00
Peter Barker
9ee0befb38 Tools: autotest: Copter: add avoidance test for beacon fence 2019-06-04 09:06:07 +09:00
Peter Barker
3008fe6eb5 Tools: autotest: Copter: add test for fence avoidance sliding 2019-06-04 09:06:07 +09:00
Peter Barker
acdddb8b1f Copter: autotest: Copter: add test for proximity boundary avoidance 2019-06-04 09:06:07 +09:00
Peter Barker
18391d8a9a Tools: autotest: produce stacktraces under Python3 2019-05-02 13:15:37 +10:00
Peter Barker
68769e24c1 Tools: autotest: add timeout for problematic spline test 2019-04-29 10:02:09 +10:00
Peter Barker
b207c2607e Tools: autotest: correct spline waypoint arming sequence 2019-04-25 13:05:46 +10:00