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2576 Commits

Author SHA1 Message Date
Randy Mackay e8947dfb47 Tools: reduce copter autotest rate yaw P and I gains 
affects quad, hexa, octa, octa-quad, deca, tri, y6, dodeca-hexa
 2021-06-03 12:20:43 +09:00
yaapu b14dcf1df5 Tools:autotest: updated FRSky SPort test to use new 2 byte data IDs 2021-06-02 17:33:15 +10:00
Pierre Kancir cf350a52e9 Tools: Autotest: add --coverage option 2021-06-02 14:42:59 +10:00
Peter Barker 2439587c5a autotest: add tests for ground effect compensation active in EKF 2021-06-02 11:13:16 +09:00
Peter Barker 8925c2830b autotest: check fence upload/download when creating from locs 2021-06-01 15:54:59 +10:00
Peter Barker c1a20ceab4 autotest: add test to catch bug with opticalflow if no rangefinder 2021-06-01 11:31:42 +10:00
Randy Mackay 26ea80fc62 Tools: update default params for copter-optflow.parm 2021-06-01 09:57:16 +10:00
Pierre Kancir 7e389afbec Tools: allow to build examples and tests with debug 2021-05-26 18:46:03 +10:00
Pierre Kancir 58358d9f97 Tools: correct arguments passing on autotest.py 2021-05-26 18:46:03 +10:00
Leonard Hall 1326dbe2ee AutoTest: Sub: Add appropriate pid parameters for highly damped system 2021-05-24 20:13:37 +10:00
Leonard Hall 41c437b768 AutoTest: Copter: fly_poshold_takeoff increase acceptable range 2021-05-24 20:13:37 +10:00
Pierre Kancir 458b6084fa Tools: don't make report test failure on coverage 2021-05-20 14:54:47 +10:00
Peter Barker c7a9fb3c9c autotest: retry dynamic notches 8 times before failing 
This test is flapping.

This is a poor - but serviceable - workaround.
 2021-05-18 11:13:10 +10:00
Peter Barker 0a06a9e446 param_metadata: reinstance @Values/@Bitmask magic for excluding params from vehicle output 2021-05-17 10:18:35 +10:00
Peter Barker eb2b1b3231 Tools: param_meteadata: correct @Values{Plane} etc handling 2021-05-17 10:18:35 +10:00
Peter Barker 3eb164fb6a autotest: move script helper functions from rover to common 2021-05-14 13:21:36 +10:00
Peter Barker 3d562046da autotest: add accuracy option to guided_achieve_heading 2021-05-14 13:21:36 +10:00
Peter Barker c18c4ad6ec Tools: param_metadata: remove use of dirname when creating Vehicle 
So a Vehicle object takes a truename - i.e. Copter, not ArduCopter, but
can also take a "reference", which is used for e.g. constructing RST
tags.
 2021-05-13 21:09:45 +10:00
Peter Barker 3ea9307419 Tools: param_metadata: flake8 cleanliness 2021-05-13 21:09:45 +10:00
Peter Barker 1123de112c Tools: param_metadata: tidy finding of Vehicle parameter file 2021-05-13 21:09:45 +10:00
Peter Barker 97e57932c4 Tools: param_metadata: remove more multi-vehicle support 
This script hasn't supported emitting multiple vehicles for a very long
time, but this was enforced using a check and we kept a list of vehicles
around for no very good reason.
 2021-05-13 21:09:45 +10:00
Andy Piper 2df7b5453e autotest: add test for ESC telemetry driven notches. 2021-05-12 17:01:11 +10:00
Peter Barker d2f78c69be autotest: add a simple test for SMART_RTL 2021-05-12 13:01:50 +10:00
Peter Barker 9965f1a31d autotest: add some helpers for local-position movement 2021-05-12 13:01:50 +10:00
Peter Barker 7ab094f3a1 autotest: tidy fly_guided_move_local 2021-05-12 13:01:50 +10:00
Peter Barker 1d6efbd56f autotest: fix loiter_to_ne 
Co-Authored-By: leonardthall@gmail.com
 2021-05-11 14:51:28 +10:00
Peter Barker 04aed49572 autotest: adjust GyroFFT threshold to make it pass 
From Andy:

Can you make this 0. The test should then pass. I'm not terribly happy about it but its better than disabling the test and I can't tell whether there is actually a problem or not.
 2021-05-07 18:30:08 +10:00
Peter Barker 0a235ce094 autotest: remove retry loop from within GyroFFT 
This effectively removes an infinite loop from the GyroFFT test.
 2021-05-07 18:30:08 +10:00
Peter Barker 765889b827 autotest: don't send statustext during exception 
During an exception we don't want to be trying to print these
 2021-05-07 14:21:44 +10:00
Peter Barker f78cf73726 autotest: don't fail completely if ArduPilot process dies 2021-05-07 12:22:11 +10:00
Peter Barker b04dfda9fb autotest: enable deca and dodeca frames in FlyEachFrame test 2021-05-06 16:26:28 +10:00
Peter Barker cf4acaa2aa autotest: re-enable quadplane QAutoTune test 2021-05-05 23:43:59 +10:00
James O'Shannessy bc38d8a78c AutoTest: Fix autotest from failing due to state from earlier test 
Autotest was failing because there was an expectation that the plane would fly relatively north from the takeoff point.
This assumption may not be true. We work around it by using a tin can instead of an exclusion polygon so that we breach no matter the direction we fly.
 2021-05-05 10:59:10 +10:00
James O'Shannessy 0e656c1504 AutoTest: Ensure Plane uses home as Fence Return Point if one is not present and no exclusion fence is present 2021-05-05 10:59:10 +10:00
Peter Barker 9a13b5c9b6 autotest: add test for auxfunc triggering via script 2021-05-05 07:13:18 +10:00
Iampete1 aa72b7da46 Tools: autotest: Plane: add loiter terrain following test 2021-05-02 18:51:27 +10:00
Peter Barker 57abaf0dec autotest: remove retry loop from within GyroFFTHarmonic 2021-05-01 21:30:28 +10:00
Peter Barker 4928ec18af autotest: remove retry loop from within fly_dynamic_notches 
We retried externally to the test - may as well do so within
 2021-05-01 21:30:28 +10:00
Peter Barker 8fdfdebe55 autotest: pass sitl_commandline_customised up the context stack 
We're running tests on the Callisto frame when we shouldn't in Copter as
the information was lost in nested Contexts.

We can only reset the SITL commandline at an actual Test level - if a
defaults file has been used then it is unclear as to what the state of
any parameter is in storage as we move between contexts
 2021-05-01 17:22:36 +10:00
Peter Barker 117a44b589 autotest: remove corefiles at start of run 
These lead to false-positive failures in the test suite
 2021-05-01 17:22:36 +10:00
Peter Barker 2cd0099bbc autotest: exclude decarotor from fly-each-frame-test 2021-05-01 13:25:13 +10:00
Peter Barker 76678ffaf3 autotest: fix octa-cwx in SITL 2021-05-01 13:25:13 +10:00
Peter Barker 5172e767df autotest: fix octa-dji in SITL 2021-05-01 13:25:13 +10:00
Peter Barker c7c4c17c68 autotest: improve change_mode debug 2021-05-01 13:25:13 +10:00
Peter Barker 63ba484087 autotest: add test which flies each frame we can 2021-05-01 13:25:13 +10:00
jbarrozo 3b1f5f0b15 autotest: added Boquig 2021-04-29 13:35:22 +10:00
Peter Barker e4c405b77b autotest: add a test for Spline missions showing terrain requirement 2021-04-28 18:40:26 +10:00
Iampete1 3bea2fd89b Tools: autotest: defualts: setup direct acutated wing servo 2021-04-28 08:22:47 +01:00
Iampete1 0628aa9e29 Tools: autotest: add sailboat autotest 2021-04-28 15:16:35 +10:00
Peter Barker fc426e01c2 autotest: stop using start_test for things that aren't actually tests 
start_test should only be used for top-level tests, not parts of
top-level tests
 2021-04-28 13:53:46 +10:00
Peter Barker 6af0f460af autotest: add duplicate-logmessage-field sanity check 2021-04-27 16:38:40 +10:00
Peter Barker 30e8160aa1 autotest: sort logs before moving 
Makes it easier to find last log in output.

Also removing pointless lamdaing of some functions
 2021-04-21 13:16:24 +10:00
Pierre Kancir 927a875133 Tools: param_parse: fix vehicle specific parameter with multiple fields 2021-04-21 11:30:54 +10:00
Peter Barker 0ee0228883 autotest: fix flapping fly-home-land-and-disarm 
One of the tests just happened to be within acceptance radius of
waypoint 8 - so when we set that as a waypoint we never saw it actually
be our waypoint so the set_waypoint failed
 2021-04-20 23:04:24 +10:00
Peter Barker 8643322f06 autotest: correct string we expect from MAVProxy 
Was APM: now AP:
 2021-04-20 14:08:12 +10:00
Peter Barker c12d1938c2 autotest: add a test for button change for changing modes 2021-04-19 14:27:45 +10:00
Andrew Tridgell be161744db autotest: adjust default plane tune 2021-04-15 06:57:16 +10:00
Andrew Tridgell 0be24c4946 Tools: convert old param files to new plane PID params 2021-04-15 06:57:16 +10:00
Andrew Tridgell 0d9d952aea autotest: added SpringValley2 2021-04-15 06:57:16 +10:00
Peter Barker 31c889f583 autotest: accept Copter/Plane/Sub for sim_vehicle.py 2021-04-12 13:35:16 +10:00
Andrew Tridgell affff0fc84 Tools: test mission from Leonards S-curve talk 2021-04-11 19:16:09 +10:00
Peter Barker 27b6637c2d Tools: param_parse.py: add support for generation for AP_Periph 2021-04-11 11:31:41 +10:00
Peter Barker b107740542 Tools: param_parse: add --sitl to emit only SIM_ parameters 2021-04-10 11:28:22 +10:00
Randy Mackay 0b9753b12f Tools: autotest add vehicle info for rover-vectored 2021-04-08 08:47:07 +09:00
Randy Mackay d00e63d14b Tools: add default params for rover-vectored 
Co-authored-by: srmainwaring <rhys.mainwaring@me.com>
 2021-04-08 08:47:07 +09:00
Peter Barker b369e86c0c Tools: param_parse: remove references to APM in parameter generation 2021-04-07 17:08:25 +10:00
Peter Barker 229b25d916 Tools: param_parse: add *args and **kwargs to emitters 2021-04-07 17:08:25 +10:00
Peter Barker 5a927d84c8 Tools: param_parse: rejig selection of emitters 2021-04-07 17:08:25 +10:00
Peter Barker 5ef5fc9d84 Tools: param_parse: stop generating old .wiki format 2021-04-07 17:08:25 +10:00
Peter Barker c3414a5767 Tools: param_parse: move init of variable lower 2021-04-07 17:08:25 +10:00
Peter Barker 4c6b07e950 Tools: param_parse: remove support for Parameters.pde 2021-04-07 17:08:25 +10:00
Peter Barker c350268918 autotest: correct compilation of Replay in autotest suite 2021-04-05 16:39:36 +10:00
Peter Barker ea4bbcf6ee autotest: add test for copter position reset 2021-04-05 00:02:42 +10:00
Randy Mackay ab2e429f32 Tools: Copter.fly_square descends more quickly 2021-04-03 12:07:59 +09:00
Randy Mackay f341429977 Tools: Copter.RTLSpeed gets increased speed tolerance 2021-04-03 12:07:59 +09:00
Randy Mackay c04f686ce7 Tools: extend copter NavDelay test by 80sec 
s-curves slows missions slightly
 2021-04-03 12:07:59 +09:00
Peter Barker f0094bac40 autotest: remove copied-in duplicate of pymavlink rotmat 2021-04-03 13:26:06 +11:00
Peter Barker dfa342a79f autotest: correct rc-values-good debug 2021-04-03 08:59:14 +11:00
Peter Barker 7d9daccdf7 autotest: fix mavproxy switch test 
The order in which we fix the environment means that we need to be
listening on the correct port for rc values - so just fix it in the test
 2021-04-03 08:58:52 +11:00
Peter Barker d384ba6585 autotest: increase time permitted for Copter to turn east 
Sometimes they turn almost 360 which takes a while
 2021-04-02 21:29:43 +11:00
Peter Barker 2c6bdd200c autotest: fix make_safe_filename for Valgrind 
Valgrind treats this as a format string so the % is bad
 2021-04-02 20:51:18 +11:00
Peter Barker 18ded114ae Tools: param_metadata; stop prettifying XML before emitting 
indent is not available on our documentation server:

[build_parameters.py]
Traceback (most recent call last):
  File "./param_parse.py", line 422, in <module>
    do_emit(XmlEmit())
  File "./param_parse.py", line 415, in do_emit
    emit.close()
  File "/home/wiki/build_wiki/ardupilot/Tools/autotest/param_metadata/xmlemit.py
", line 24, in close
    etree.indent(self.paramfile)
AttributeError: module 'lxml.etree' has no attribute 'indent'
 2021-04-02 14:39:39 +11:00
Peter Barker cee348d082 Tools: make and declare bisect-helper.py flake8-compliant 2021-04-01 19:11:50 +11:00
Peter Barker ee79895a4e Tools: make and declare examples.py flake8-compliant 2021-04-01 19:11:50 +11:00
Peter Barker fff4aa8bde autotest: increase allowed time for climb_before_turn to get home 2021-04-01 19:11:31 +11:00
Peter Barker f988064e48 Tools: add a tool to help determine best speedup for autotest 2021-04-01 11:27:17 +11:00
Peter Barker d2c00f7b26 autotest: ensure RC thread is killed after each run_test 
Every run_test starts a thread.  del is not being called.  So clean it
up in the caller
 2021-04-01 11:00:54 +11:00
Peter Barker 500679ec5b autotest: correct creation of default parameters 
Simulation won't start if nothing is connected to 5760 - so just connect
mavproxy there
 2021-03-31 23:29:47 +11:00
Peter Barker ba972b6b46 autotest: fix --map option 2021-03-31 16:30:25 +11:00
Peter Barker d621fe0cde autotest: correct sub gripper mission 
Ordinarily not run because gripper is disabled
 2021-03-31 13:43:31 +11:00
Peter Barker e8f96efe72 autotest: wait for stats initialisation before rebooting 
If the RTC time we reset parameters (STAT_RESET) is zero then we reset all parameters.

In SITL we only set that time if we see a GPS due to the AP_RTC RTC_TYPES parameter default bitmask value of 1

So if you reboot SITL fast enough while STAT_RESET is zero you can see that STAT_BOOTCNT does not increase. Easily reproducible in SITL; start with -w and type reboot in several times before SITL sees the GPS come up and you can see STAT_BOOTCNT doesn't increase.

Fix is to ensure STAT_RESET is non-zero before rebooting.
 2021-03-31 13:33:39 +11:00
Michelle Rossouw cd18e16ffb autotest: added blimp simulator type 2021-03-31 12:27:07 +11:00
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