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872 Commits

Author SHA1 Message Date
rishabsingh3003 5500cb97c7 autotest: add simulated nooploop tofsense rangefinder 2023-06-28 17:16:22 +10:00
Andrew Tridgell 669b58b017 Tools: fixed RefindGPS test 
this test was relying on the EKF bug fixed in this PR. The copter was
actually fully landing and touching the ground in the LAND phase
whereas the original intention of this test was that it not touch the
ground in LAND. See the graph in
https://github.com/ArduPilot/ardupilot/pull/17104 where the test was
added
 2023-06-26 18:09:31 +10:00
bnsgeyer c8fc238e62 Tools: add throttle curve and governor autotest for tradheli 2023-06-16 23:18:23 +10:00
Randy Mackay 7ecb580519 Tools: autotest proximity sensor fix for sf45b 2023-06-14 17:49:30 +10:00
Peter Barker d0f06beeaa autotest: care not which CAN GPS is unhealthy when in maintenance mode 2023-06-07 14:21:43 +10:00
Peter Barker 35ebc25172 autotest: restart both CAN nodes in CAN prearm test 
the node id we put into maintenane mode varies
 2023-06-04 15:24:59 +10:00
Peter Barker 7bdc31b539 autotest: add an epsilon for achieved servo output for speed scaling test 
right on the threshold
 2023-05-30 12:34:33 +10:00
Peter Barker ea0ab227ce autotest: remove unnecessary try/except from Sprayer test 2023-05-30 12:34:33 +10:00
Peter Barker d4dabeb6fc autotest: add tests against bad vel/accels in copter guided 2023-05-25 09:42:28 +10:00
Peter Barker f722be9758 autotest: add test for RPLidarA1 2023-05-16 10:15:23 +10:00
Peter Barker 76cf605e11 autotest: add test for RPLidar driver 2023-05-16 10:15:23 +10:00
Michael du Breuil 29556ade25 Tools: Support MAX_RPM autotest 2023-05-02 10:23:55 +10:00
Peter Barker 5cc046b9cc Tools: AP_Arming ensures mission items present when in auto mode 
Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>
 2023-04-14 07:49:54 +10:00
Randy Mackay 322ef64aad Tools: ScriptMountPOI test uses applet directory 2023-04-13 07:04:22 +10:00
Andrew Tridgell 402de293d6 Tools: text messages and more defines 2023-04-11 10:31:31 +10:00
Peter Barker f12777f369 autotest: add test for GuidedYawRate being indpendent of set-rate rate 
A bug is being fixed where we couldn't achieve the maximum rate due to the input speed of the guided command.

This makes sure the rate achieved is independent of the rate at which the attitude rate is being set
 2023-03-21 08:23:12 +09:00
Andy Piper 7dc6dee5a0 autotest: test Yaw D autotune 2023-03-14 11:01:31 +11:00
Peter Barker e967fad32a autotest: augment IE24 test with fuel-remaining test 2023-03-11 11:50:20 +11:00
CharlieBurge 62119d5bbe Copter: remove check on pause state 2023-03-09 18:13:38 +00:00
CharlieBurge 224e7c578f Copter: pause/resume reporting test 2023-03-09 18:13:38 +00:00
Peter Barker 7fe547cfce Tools: add support for MAV_CMD_DO_SET_ROI_NONE 2023-03-07 08:06:01 +09:00
Randy Mackay f997b09358 Tools: autotest correction for sf45b 2023-03-01 18:22:22 +11:00
Andrew Tridgell a24763a2ba autotest: added a test for landing a copter with significant AHRS trim 
this fails with EKF3
 2023-02-28 17:16:39 +11:00
Pierre Kancir 8628fd998f Tools: Copter: add test for FS_GCS_TIMEOUT 2023-02-24 09:41:17 -08:00
Pierre Kancir 0b7ef942b4 Tools: move setGCSfailsafe in common 2023-02-24 09:41:17 -08:00
Peter Barker df06e85450 autotest: fix arming checks test 
waity for accels/gyros to settle
 2023-02-24 09:21:42 +11:00
Peter Barker e494c40b61 autotest: correct fettec test 
need to wait for accels/gyros to be healthy
 2023-02-24 09:21:42 +11:00
Peter Barker 2475ee0239 autotest: add test for gyro consistency check 2023-02-24 09:21:42 +11:00
Peter Barker 421c382bcc autotest: add test for accel consistency check 2023-02-24 09:21:42 +11:00
Peter Barker 357a39adba autotest: add test for flying mission twice back-to-back 2023-02-22 08:57:59 +11:00
Peter Barker 19ccf08412 autotest: add test for mount-poi.lua 2023-02-17 10:04:49 +11:00
Andy Piper af9aed1017 autotest: correct FFT gyro averaging tests 2023-01-24 10:56:33 +11:00
Peter Barker 773d7cb65c autotest: disable simulated esc telemetry for FETtecESC tests 2023-01-18 18:07:23 +11:00
Andy Piper d1b272fab7 autotest: anti-gravity test using THR_G_BOOST boost 2023-01-11 18:59:52 +11:00
rishabsingh3003 1c49373088 Tools: Add autotest for checking terrain db pre arm for copter auto mission 2023-01-10 13:22:44 +11:00
Peter Barker d9564d973d autotest: fix un-set variable problem in verify_innov 2023-01-06 11:11:22 +11:00
Andy Piper 60dcb0423a autotest: add basic FFT post-filter test 
record gyro data in FFT postfilter test
check post-filter gyro logging and change notch settings for post-filter FFT
add motor noise test
FFT SNR now has sensible default for post-filter
 2022-12-28 18:14:56 +11:00
Peter Barker a71911c19f autotest: ensure vehicle is armed before issuing takeoff command 
sending the arm command isn't sufficient if there are other arming problems.

Caught a test failing when throttle was found to be high - I think the rc(3, 1700) was managing to have effect before we processed the arm command because of the way the input queues to ArduPilot SITL work
 2022-12-27 11:32:19 +11:00
Peter Barker 89ecd8fb17 autotest: create a context-per-check whentesting motors blocked 
without this all subsequent tests will find the string in the context's collection of statustexts.  So use a context-per-mode
 2022-12-27 11:32:19 +11:00
Peter Barker f44a50bdd8 autotest: use epsilon when testing for zero variance in EK3_RNG_USE_HGT 2022-12-22 21:12:39 +11:00
Gone4Dirt 01481b2ec4 Autotest: Add copter weathervane tests 2022-12-14 16:08:20 -05:00
Andy Piper 5358b4d8de autotest: add up and down components to baro compensation test 2022-12-14 19:19:58 +11:00
Peter Barker 021cb75d5b Tools: autotest: use forced reboot argument 2022-12-06 11:20:08 +11:00
Peter Barker 65e8f153a3 autotest: add a test for EK3_RNG_USE_HGT 2022-11-23 18:40:58 +11:00
Peter Barker 1cfe409189 autotest: tighten tolerances on beacon test 
7m is actually pretty much all of the required movement for this fence test!
 2022-11-15 18:45:42 +11:00
Peter Barker d0ce2ca8f2 autotest: use implicit context for AutoTuneSwitch 
the wrapper adds nothing
 2022-11-15 16:45:00 +11:00
Peter Barker bac96363f4 autotest: add basic tests for Copter sprayer 2022-11-15 08:45:42 +09:00
Peter Barker cafce7671d autotest: slow down specific tests so they pass 2022-10-22 15:14:55 +11:00
Peter Barker 02a6f71df4 autotest: change Copter default speedup time to 100 2022-10-22 15:14:55 +11:00
Peter Barker 117c5df6ca autotest: ensure optical flow mavlink status roughly correct 2022-10-19 21:00:48 +11:00
Peter Barker 49b991b92d autotest: use new altitude_source keyword in EKF/GPS test 2022-10-01 08:27:37 +10:00
Andrew Tridgell 0210d7c60c autotest: added a test for EKF lane change in GUIDED 
an EKF lane change when the two lanes are using different GPS should
not cause a height change in GUIDED
 2022-09-30 07:44:42 +10:00
Peter Barker 0c5f972ddb autotest: add ability to watch-and-maintain from SIM_STATE.alt 2022-09-29 20:00:01 +10:00
Peter Barker bd364b6169 autotest: specify baudrate for NMEA GPS for testing 2022-09-28 20:53:34 +10:00
m 635df2ca45 autotest: check local home location 2022-09-21 15:58:25 +10:00
Peter Barker d3f6d9eaa3 autotest: make proximity sensor test more reliable 2022-09-21 11:58:38 +10:00
Iampete1 ef9f5a9552 Tools: autotest: update copter param validation check 2022-09-19 20:57:51 -04:00
murata 9c52930d87 autotest: Add test "RC not found" 2022-09-15 17:59:37 +10:00
m 61bb575422 autotest: Fix watch_altitude_maintained for Copter 2022-09-13 07:43:15 +10:00
Peter Barker b1909d9edf autotest: create and use a Result object to ship failure data around 2022-09-12 08:49:04 +10:00
Peter Barker ba6cf1a42b autotest: remove disabled LogUpload test 
This has been unused for a long time, and is getting in the way of reforms.  Its position as a test rather than as a part of a framework was always going to cause oddities, particularly after we split the Copter tests into several chunks.
 2022-09-11 20:45:13 +10:00
m 3fdcf5f940 autotest: test landed state of copter during takeoff in auto mode 2022-09-10 21:53:23 +10:00
Peter Barker 80c36ecc97 autotest: use reflection to collect test details 
We had a pattern emerging of using the test name as the method name to contain the actual test.  We also tended to duplicate the docstrings in the test description - or omit the docstring.

This uses reflection to retrieve both the test name and the description, meaning less duplication of this information and enforcing having docstrings on the test methods.
 2022-09-10 18:27:27 +10:00
Peter Barker 4caaf1533f autotest: check context for expected esc-rpm statustext 2022-09-10 09:21:44 +10:00
Peter Barker 1a46a27bb8 Tools: remove vestiges of travis autotest hooks 
travis had a split into two tests, test1 and test2 - which we no longer need
 2022-09-09 12:08:59 +10:00
Peter Barker e9bffe2045 autotest: throw exception when GIMBAL_DEVICE_ATTITUDE_STATUS not received 2022-09-08 21:13:15 +10:00
Andy Piper 203f691df4 autotest: add takeoff check test 2022-09-07 17:03:03 +01:00
Randy Mackay 4108e4b77f Tools: copter autotest integrates MNT param changes 2022-09-06 13:53:25 +09:00
Peter Barker 045115de05 autotest: explicltly close filehandle with streamrate contents 
Test sporadically failing on autotest server.
 2022-09-03 11:28:10 +10:00
esaldiran 9218cf18ce autotest: add test for custom controller 2022-08-30 13:10:09 +10:00
Peter Barker 1f430daef6 autotest: correct system ID used when setting ROI_SYSID 2022-08-26 14:38:12 +10:00
Randy Mackay c898261698 Tools: autotest uses PRX1 parameters 2022-08-24 18:26:27 +10:00
Peter Barker 217338955d autotest: wait for logging to be good in replay GPS test 
I think it's possible for the reboot to be coplete but the log not yet open as it's done in the update call
 2022-08-24 13:11:46 +10:00
Peter Barker 668ec44968 autotest: let heading settle before testing WP_YAW_BEHAVIOR=0 
2022-08-19T02:22:48.3161982Z AT-0229.9: Exception caught: Unexpected heading=94.000000 want=91.000000
2022-08-19T02:22:48.3162341Z Traceback (most recent call last):
2022-08-19T02:22:48.3162738Z   File "/__w/ardupilot/ardupilot/Tools/autotest/common.py", line 7173, in run_one_test_attempt
2022-08-19T02:22:48.3163101Z     test_function()
2022-08-19T02:22:48.3163507Z   File "/__w/ardupilot/ardupilot/Tools/autotest/arducopter.py", line 4414, in GuidedSubModeChange
2022-08-19T02:22:48.3164012Z     self.assert_heading(orig_heading)
2022-08-19T02:22:48.3164419Z   File "/__w/ardupilot/ardupilot/Tools/autotest/common.py", line 5610, in assert_heading
2022-08-19T02:22:48.3164866Z     raise NotAchievedException("Unexpected heading=%f want=%f" %
2022-08-19T02:22:48.3165290Z common.NotAchievedException: Unexpected heading=94.000000 want=91.000000
 2022-08-19 17:06:45 +10:00
Peter Barker 00d3af6fc5 autotest: handle terrain requests internally to autotest 
We will cache all required SRTM data within the autotest branch
 2022-08-16 11:12:44 +10:00
Randy Mackay 9b357a5cd2 Tools: copter autotest uses gimbal-device-attitude-status 
add set_mount_mode to reduce duplication
remove reliance on GIMBAL_REPORT
slightly loosen accuracy of mount pitch test
 2022-08-15 20:29:25 -04:00
Randy Mackay 7d901491a3 Tools: remove link to resolved issue 2022-08-15 20:29:25 -04:00
Peter Barker 5eb2f6780e autotest: tidy angle test 2022-08-12 19:55:32 +10:00
Peter Barker ffc0d8b229 autotest: add test that we need RC input by default to arm for Copter 2022-08-11 20:01:45 -04:00
Peter Barker 445ee86734 autotest: tidy resetting of parameters after battery failsafe test 2022-08-11 13:32:24 +10:00
Peter Barker 5ee8f99e7b autotest: adjust for terrain arming requirements 
Lots of tests really did need terrain stuff but weren't able to get it
 2022-08-09 14:31:14 +10:00
Henry Wurzburg cea1e29f4e Tools: add TeraRange Neo Rangefinder 2022-08-09 09:01:34 +10:00
Peter Barker e92d4c6fc5 autotest: add test for WP_YAW_BEHAVIOUR 0 
With behaviour 0 anbd typemask specifying ignore yaw/yaw_cds the yaw should reamin fixed
 2022-08-08 21:33:03 +10:00
Peter Barker 7284fbc978 autotest: allow more time for angle test to retrieve correct angle 
Faster speedups mean we can simply not run this loop often enough to see the change
 2022-08-04 16:49:28 +10:00
Iampete1 f1c4797ef4 Tools: autotest: copter: rangefinder mavlink enable landing gear 2022-08-02 10:48:19 +10:00
Peter Barker 1c78baac72 autotest: fix Copter PrecisionLoiterCompanion 2022-07-28 21:06:18 +10:00
Peter Barker 35d60d8025 autotest: augment PayLoadPlaceMission test to check drop distance 2022-07-28 21:06:18 +10:00
Peter Barker f67877655b autotest: tidy payload place test 2022-07-28 21:06:18 +10:00
Andy Piper 022ae00199 autotest: att attempts to DataFlashErase test 2022-07-28 08:55:01 +10:00
bugobliterator 2375564bb2 autotest: add test for CAN node health pre arm check 2022-07-27 18:18:03 +10:00
Peter Barker 515b79a6ca autotest: remove un-needed calls to drain_mav_unparsed 
these calls are generally bad now, given we have context_collect things going on which always want to see messages coming in
 2022-07-20 15:17:25 +10:00
Peter Barker acd9fb9c0a autotest: pause/unpause SITL while draining mav 
If Python can't keep up with the message volume coming from the autopilot we never manage to drain all messages from the vehicle.

So try pausing/unpausing the simulation so we can drain the link...

AT-1968.6: AP: PreArm: Radio failsafe on
AT-1969.9: AP: PreArm: Radio failsafe on
AT-1971.2: AP: PreArm: Radio failsafe on
AT-1972.4: AP: PreArm: Radio failsafe on
AT-1973.7: AP: PreArm: Radio failsafe on
AT-1974.9: AP: PreArm: Radio failsafe on
AT-1975.3: Drained 2000283 messages from mav (7218.974791/s)
AT-1975.3: Exception caught: Traceback (most recent call last):
  File "/mnt/volume_nyc3_01/autotest/APM/APM/Tools/autotest/common.py", line 699
8, in run_one_test_attempt
    self.context_pop()
  File "/mnt/volume_nyc3_01/autotest/APM/APM/Tools/autotest/common.py", line 499
3, in context_pop
    self.set_parameters(dead_parameters_dict, add_to_context=False)
 2022-07-19 11:00:27 +10:00
Peter Barker 0677965524 autotest: adjust PAUSE_CONTINUE_GUIDED to use globalframe for navigation 
Co-author: Leonard Hall <leonardthall@gmail.com>

This test was failing when the yaw control on the simulated vehicle was cleaned up.  Navigating in body frame meant that the vehicle was told to go to a different position than we were actually expecting.
 2022-07-19 09:24:45 +10:00
Leonard Hall 0405451463 SITL: Fix BaroWindCorrection Test 2022-07-15 09:59:44 +09:00
Peter Barker bceaa10794 autotest: add a test for rally point altitudes 2022-07-14 11:49:53 +10:00
Peter Barker 72734d38de autotest: add test for AUTO_LAND_TO_BRAKE 
Having some terrain-based issues with BRAKE mode
 2022-07-10 20:59:52 +10:00
Andy Piper 8799b3839a autotest: add triple notch test. 2022-07-03 18:21:41 +10:00
Andy Piper f2aa6e99c3 autotest: test pre and post filter logging in FFT test 2022-07-03 18:19:55 +10:00
Randy Mackay 1a5216aaee Tools: autotest for mount sets MNT_RC_RATE 2022-06-21 13:37:11 +09:00
Peter Barker 6fcdea67c3 autotest: tidy hover_and_check_matched_frequency method 
- remove pointless elses
 - clarify why a test is failing in exception messages
 - move variable definitions closer to their use
 2022-06-15 19:07:34 +10:00