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392 Commits

Author SHA1 Message Date
Peter Barker
c99a49eeb9 autotest: add test that we continue to get simulated vehicles from SIM_ADSB 2021-11-23 11:09:29 +11:00
Peter Barker
b42432ea3e autotest: add trivial test for MSP 2021-11-17 12:06:07 +11:00
Shiv Tyagi
5811a62bc6 Tools: add autotest for DEVO telemetry 
This adds an autotest to test if we receive data with devo telemetry correctly.
 2021-11-16 11:37:10 +11:00
Peter Barker
b6293acbce autotest: tweak how we make gps bad in fallback test 2021-11-05 23:18:11 +11:00
Iampete1
bc7c5c24da Tools: autotest: quadplane: reboot for tailsitters and allow longer time for disarm 2021-10-26 10:03:00 +11:00
Peter Barker
5cf62e8fb3 autotest: tweak soaring test SOAR_VSPEED 
This is right on the edge on master
 2021-10-21 12:09:21 +11:00
Peter Barker
b9a4902aa6 autotest: let system settle before annoying 
Also fly in circles to avoid long flight home
 2021-10-21 12:09:21 +11:00
Peter Barker
0e6b0cbf35 autotest: add trivial test for MegaSquirt EFI system 2021-10-17 10:00:08 +11:00
Davis Schenkenberger
3e748d77c9 Tools: autotest: add test for LORD EAHRS 2021-10-17 08:55:03 +11:00
Josh Henderson
941cd6ebc2 Tools: arduplane.py add HIGH_LATENCY2 tests and Check Air_Temperature 2021-10-13 19:40:45 +11:00
Peter Barker
5f32fb82e8 autotest: add basic test that Plane autotune completes 2021-10-10 18:18:44 +11:00
Peter Barker
dd49d79798 autotest: add test for Plane flying with a very slow GPS 2021-10-05 21:40:45 +11:00
Peter Barker
a55bd3955a autotest: ensure camera feedback messages at correct altitude 2021-09-30 08:50:47 +10:00
Peter Barker
bc664d77b7 autotest: add trivial test for MAVFTP using MAVProxy 2021-09-27 11:42:47 +10:00
Peter Barker
b82b6f1e50 autotest: add test which force-switches to DCM and watches plane land 2021-09-26 17:35:46 +10:00
Samuel Tabor
9f77d5ac9d autotest: fly_mission should respect mission_timeout when waiting for wps. 2021-08-19 17:59:33 +10:00
Samuel Tabor
3a185e7533 autotest: Add plane test for landing with barometer drift. 2021-08-19 17:59:33 +10:00
Peter Barker
d03cfb8615 autotest: Plane: wait for origin before enabling fence 
we load into memory as origin-relative positions
 2021-08-12 20:34:36 +10:00
Peter Barker
abb6521127 Revert "autotest: use SIM_STATE (common.xml) instead of SIMSTATE (ardupilotmega.xml)" 
This reverts commit 540a56adb8.

Polling this message caused issues on reboot - shouldn't be a problem
but is.

Retrying that showed that the Tracker GUIDED test failed reliably due to
a yaw problem.
 2021-08-07 16:18:05 +10:00
Peter Barker
540a56adb8 autotest: use SIM_STATE (common.xml) instead of SIMSTATE (ardupilotmega.xml) 
It is a useful superset
 2021-08-05 18:35:11 +10:00
Peter Barker
8e72dc32d1 autotest: add test home is restored persistently on wdog reset 2021-08-03 10:36:50 +10:00
Josh Henderson
1cb11a5ff2 Tools: autotest change smartbatt param names 2021-08-03 09:36:26 +10:00
Peter Barker
7929122f49 autotest: improve AHRS trim test 2021-07-28 17:20:28 +10:00
Peter Barker
da3ff2c142 autotest: add test for live change of AHRS orientation 2021-07-27 17:28:09 +10:00
Paul Riseborough
9207744152 Tools: Rework Plane.EKFlaneswitch autotest 2021-07-22 18:20:45 +10:00
Paul Riseborough
ef1dda005f Tool: Allow more time for quadplane autotest to land and disarm 2021-07-22 18:20:45 +10:00
Paul Riseborough
a0ae998a4d Tools: Fix AIRSPEED_AUTOCAL test failure 
The mission plan for this test causes a lot of overshoot when turning onto final approach with the result that there is still some lateral offset when passing the landing waypoint that is not a measure of estimator accuracy.
 2021-07-22 18:20:45 +10:00
Peter Barker
9fb7ef915e Tools: add support for ms5525 i2c sensor 2021-07-13 12:00:37 +10:00
Peter Barker
7842f55a3b Tools: add rc channel option to disable all airspeed sensors 2021-06-23 15:13:13 +10:00
Peter Barker
d3f90bde7f autotest: add FlyEachFrame test for Plane 2021-06-21 14:13:18 +10:00
Peter Barker
61fda691f2 autotest: add trivial test for smart battery logging 2021-06-15 09:46:26 +10:00
Peter Barker
14b2af84ab autotest: break out a home_relative_loc_ne for getting a home-rel loc 2021-06-11 16:59:51 +10:00
Peter Barker
fd792bebf8 autotest: wipe SITL state after temperature cal test 
ArduPilot internals are fiddling state that the autotest suite is
unaware of, so wipe the eeprom after the test
 2021-06-09 14:14:06 +10:00
Peter Barker
6944ef6af1 autotest: fly each working Helicopter frame 2021-06-09 12:15:42 +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
Iampete1
aa72b7da46 Tools: autotest: Plane: add loiter terrain following test 2021-05-02 18:51:27 +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
fff4aa8bde autotest: increase allowed time for climb_before_turn to get home 2021-04-01 19:11:31 +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
b55094fef4 autotest: Test triggering Auxillary Functions via mavlink 2021-03-31 11:36:09 +11:00
Peter Barker
462ac255a3 autotest: start MAVProxy only as needed for testing 2021-03-19 09:46:45 +11:00
Stavros Korokithakis
f6fc6d22da autotest: Fix the climb-before-turn test 2021-03-18 07:37:21 +11:00
Peter Barker
0c7f3d20a4 autotest: fix attitude test 
autotest: add a get_messages_frame method

Attempts to get a set of messages as close as reasonable in time.
 2021-03-16 14:19:44 +11:00
Stavros Korokithakis
29043d62e9 Add FLIGHT_OPTION to climb before RTL 2021-03-16 11:58:47 +11:00
Hwurzburg
d15e01d390 Plane: fix DO_CHANGE_SPEED airspeed to impact only AUTO and GUIDED modes 2021-03-16 10:09:34 +11:00
Peter Barker
eb702b0f82 Tools: add support for ATTITUDE_QUATERNION 2021-03-13 09:44:12 +11:00
Peter Barker
f78d7c3b25 autotest: add option to not check current wp after set_current_wp 
Sometimes a waypoint is set which we'll never emit as our current
waypoint (e.g. a JUMP)
 2021-03-10 09:12:39 +11:00
Peter Barker
4a251bebbd autotest: fix fly_home_land_and_disarm; wp 7 is never current wp 
This is never a current waypoint, so we can't wait for it
 2021-03-10 09:12:39 +11:00
Peter Barker
bdeadce95b autotest: improve deadreckoning test 
autotest: use location_offset rather than coordinates in Deadreckoning test
 2021-03-05 21:34:58 +11:00
Peter Barker
425ab1358a autotest: tidy streamrate handling 
Stop setting MAVProxy stream rates; these are neither here-nor-there now as MAVProxy will only modify its own connection's streamrates now

Stop doing the set-streamrate dance to work around MAVProxy's
set_streamrate algorithms.

Remove useless and misleading set of streamrate in Plane test; we reset
streamrates on the reboot immediately following this set.  Considering
the streamrate was never eset this was a good thing.
 2021-03-05 21:34:58 +11:00
James O'Shannessy
bcc0da9c47 AutoTest: Adds additional autotests to capture mode change while breached 
AutoTest: Adds test for fence breach switching to guided mode when no fence return point is present. In upstream, this results in a vehicle fly-away.
 2021-03-05 14:52:46 +11:00
James O'Shannessy
dac5996d93 AutoTest: Fix autotest conflicts after rebase on upstream 2021-03-05 14:52:46 +11:00
James O'Shannessy
fa7be629e5 AutoTest: Make fence tests flake8 compliant 2021-03-05 14:52:46 +11:00
James O'Shannessy
2353b55452 AutoTest: Address race conditions in changes to fence tests 2021-03-05 14:52:46 +11:00
James O'Shannessy
76a2a76b54 AutotTest: Adds autotests for Plane to test RetRally flag added to AC_Fence 2021-03-05 14:52:46 +11:00
James O'Shannessy
8545715837 AutoTest: Add Static Fence Tests for unallowed arming when breaching geofence 2021-03-05 14:52:46 +11:00
James O'Shannessy
6f7ba3b037 AutoTest: Ensure fence is disabled at end of throttle_failsafe_fence test 2021-03-05 14:52:46 +11:00
James O'Shannessy
bbd606b8b5 AutoTest: Corrections to autotests 2021-03-05 14:52:46 +11:00
James O'Shannessy
47e76a1807 AutoTest: Move fence enable/disable to common location 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
James O'Shannessy
1a3e168ced Autotest: Fence is present, but test looking for not present 
Autotest: Remove ties to mavlink FENCE_ACTION

Autotest: Add ArduPlane autotest to test ceiling and floor

Adds a test to ensure the vehicle reverts to RTL when breaching a ceiling or floor.

Autotest: Progress the test once we reach takeoff complete and fence enable

Autotest: Use RC_OPTION for Aux Switch functionality

Autotest: Enable fence last
 2021-03-05 14:52:46 +11:00
Peter Barker
a235246628 autotest: correct units in new AHRS2 test 2021-03-03 18:41:14 +11:00
Peter Barker
b3ee5d5f59 autotest: increase verbosity in AHRS2 test 2021-03-03 16:29:33 +11:00
Peter Barker
317181922c autotest: ensure we're getting vaguely sane data in AHRS2 message 2021-03-02 20:48:36 +11:00
Peter Barker
cc83562add autotest: tidy fence handling 2021-03-02 16:54:06 +11:00
Peter Barker
10007e2e42 autotest: load missions natively rather than using MAVProxy 2021-03-02 14:24:36 +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
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
628a3843b2 autotest: flake8 compliance for arduplane.py 2021-02-18 10:43:05 +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
c00a82868e autotest: make DLVR sole airspeed sensor in test 
The test wasn't actually *using* the DLVR...
 2021-02-17 14:23:07 +11:00
Peter Barker
ca49f62b6d autotest: add test for Plane's RTL_CLIMB_MIN parameter 2021-02-13 19:34:52 +11:00
Peter Barker
d60fa86026 autotest: use set_map_from_rc more 2021-02-13 19:34:52 +11:00
Andrew Tridgell
3add045924 autotest: fixed accel/gyro threshold consistency for tempcal 2021-01-21 13:09:21 +11:00
Andrew Tridgell
fe7d933976 autotest: use delay_sim_time() in tempcal test 2021-01-21 13:09:21 +11:00
Andrew Tridgell
58b9cd2c6e autotest: added assert_reach_imu_temperature() abstraction 2021-01-21 13:09:21 +11:00
Andrew Tridgell
4c315b57ca autotest: run gyro/accel cal at non-reference temperature 2021-01-21 13:09:21 +11:00
Andrew Tridgell
2cf7e7945c autotest: make tempcal debug output clearer 2021-01-21 13:09:21 +11:00
Andrew Tridgell
84dda13b42 autotest: use new learn param setup 2021-01-21 13:09:21 +11:00
Andrew Tridgell
30385fb8cb autotest: use set_parameters() in IMU temp cal test 2021-01-21 13:09:21 +11:00
Andrew Tridgell
327db46c15 autotest: added automatic testing of IMU Temperature calibration 2021-01-21 13:09:21 +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
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
6becd90df0 autotest: increase timeout on DO_CHANGE_SPEED test 2021-01-18 19:08:46 +11:00
Peter Barker
5848ff7512 autotest: eliminate race condition in plane fence static test 2021-01-18 16:32:21 +11:00
Peter Barker
6865649b9b autotest: tidy and correct ekf lane switching test 2021-01-18 15:19:39 +11:00
Peter Barker
48a38f3ee2 autotest: wait for GPS fix before installing position validation handling 2021-01-18 15:11:19 +11:00
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
47aea5f44c autotest: print stack traces for caught exceptions 2021-01-13 19:46:13 +11:00
Andrew Tridgell
b5476c6e5c autotest: added ExternalAHRS test 2021-01-05 21:13:12 +11:00
Peter Barker
2b06ae9aa0 autotest: create and use a wait_sensor_state method 2020-12-31 17:42:33 +11:00
Peter Barker
26bbedd777 autotest: remove un-needed parameter wipe after soaring test 2020-12-25 12:18:01 +11:00
Peter Barker
69ef0937f4 autotest: add trivial test just to cover the Airspeed_DLVR code 2020-12-22 23:07:24 +11:00
Pierre Kancir
871b9fc12d Tools: plane : initial_mode_switch_mode 2020-12-16 17:27:07 +09:00
Andrew Tridgell
5fc68a1ce5 autotest: adjust for new baro SITL param names 2020-12-11 15:21:41 +11:00
Peter Barker
813723d0b7 autotest: add test for needing AHRS to be healthy to arm 2020-12-11 09:55:40 +11:00
Tom Pittenger
58c7f8279d Tools/autotest: fix CI by updating new ADSB_ENABLE->ADSB_TYPE param name 2020-11-30 16:05:17 +11:00
Peter Barker
18330d16de autotest: add test for MAVlite 2020-10-27 10:17:53 +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
Samuel Tabor
bd28a62155 autotest: Update soaring test for THERMAL mode. 2020-09-25 16:21:15 +10:00
Samuel Tabor
fe6c4d9290 autotest: Update for THERMAL mode. 2020-09-24 07:30:48 +10:00
Harshit Kumar Sankhla
f0c237d88e autotest: bug fixes for ekf lane switch test 2020-09-11 10:16:20 +10:00
Samuel Tabor
6de4967a3d autotest: Fix typos and unclear comments in soaring test. 2020-09-10 22:21:41 +10:00
Samuel Tabor
f6017d60bf autotest: Update for new soaring behaviour. 2020-09-10 22:21:41 +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
9228f47dc9 autotest: create collections-on-context to record selected messages 2020-09-08 14:19:08 +10:00
Peter Barker
f3866e5f39 autotest: disable button test 2020-09-08 12:31:15 +10:00
Peter Barker
522c3e6281 autotest: make LogUpload the last test again 
ATM any logs produced by EKFLaneswitch won't get uploaded in case of
failure
 2020-09-01 18:15:37 +10:00
Harshit Kumar Sankhla
464c90a03c Tools: add an EKF3 lane switching test to plane 2020-08-27 20:20:51 +10:00
Peter Barker
67b71e2b94 autotest: add test for Plane dead-reckoning support 2020-08-21 18:16:40 +10:00
Samuel Tabor
d57b7cad63 autotest: Update soaring test to use RCX_OPTION. 2020-07-21 09:38:04 +10:00
Samuel Tabor
ed14ab84ce autotest: Add test for terrain following mission. 2020-07-07 11:46:32 +10:00
Samuel Tabor
c3f039a739 autotest: Add timeout to fly_mission. 2020-07-07 11:46:32 +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
Peter Barker
b0916231b2 autotest: add tests for log download 2020-05-26 19:32:49 +10:00
Samuel Tabor
913e5a23fe autotest: Add method to get default params for model. 2020-04-22 10:01:09 +10:00
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
899b98b2f9 Plane: add test for loading/restoring large missions 2020-04-15 16:24:40 +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
Pierre Kancir
07435cc541 Tools: correct path for soaring mission 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
Samuel Tabor
a4c5e12fac Tools: Make soaring test a subclass of plane test. 2020-04-08 09:11:54 +10:00
Pierre Kancir
56298aabda Tools: update arduplane.py wait function parameters 2020-03-27 22:13:52 +11:00
Peter Barker
403950f61f autotest: add autotests for CPU failsafe 2020-03-20 12:19:21 +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
Peter Barker
b0aceaea70 autotest: add tests for LTM telemetry output 2020-02-08 10:38:34 +11:00
Peter Barker
71a129d685 autotest: add test for Plane LOITER 2020-02-07 15:02:35 +11:00
Peter Barker
9192cb7b41 autotest: add tests for parameter download 2020-01-15 13:54:23 +11:00
Peter Barker
ba13f0bb29 autotest: add test for Frsky SPort 2020-01-13 16:03:12 +11:00
Peter Barker
cefd991fb0 autotest: add test for frsky passthrough 2020-01-11 22:43:36 +11:00
Peter Barker
1cfb4e4a49 autotest: test FRSky serial output by taking output via TCP 2020-01-09 12:24:11 +11:00
Peter Hall
2518328801 Tools: autotest: update flap test 2020-01-01 08:11:01 +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
fc98b7d9e8 autotest: add test for fence surviving a bind-values receiver failure 2019-11-19 10:59:02 +11:00
Peter Barker
d8322500c1 autotest: augment ADSB test for RC_Channel enable/disable 2019-11-12 13:48:09 +11:00
Peter Barker
f8d10ebc0f autotest: add test for GuidedRequest handling in Plane 2019-11-11 14:07:37 +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
2daccf0ef0 autotest: add test for deepstall with relative LAND item 2019-10-18 20:13:18 +11:00
Peter Barker
8cfe181604 autotest: increase timeouts on collision test 
Azuer seems to have some issue with this test.  Make it a little more
lenient
 2019-10-18 20:12:44 +11:00
Peter Barker
1f7a3d0e16 autotest: add deepstall test 2019-10-18 09:26:12 +11:00
Peter Barker
1af76bbf60 Tools: autotest: make plane receiver-healthy check more reliable 2019-10-09 10:30:18 +11:00
Peter Barker
92160b454a Tools: autotest: remove switch position assumption from takeoff 2019-09-25 13:42:21 +10:00
Peter Barker
642935fd43 Tools: random Python cleanups based on lgtm analysis 2019-09-21 22:26:03 +10:00
Peter Barker
8736a13a87 Tools: autotest: fix for Plane receiver health test 
Won't be healthy until SITL is repolled for RC input
 2019-09-17 13:31:06 +10:00
Peter Barker
bba019abc2 Tools: autotest: add basic tests for AP_AdvancedFailsafe 2019-09-17 09:13:43 +10:00
Peter Barker
36ba3a6e4c Tools: autotest: add test for follow mode 2019-09-16 12:00:11 +10:00