#!/usr/bin/env python ''' Fly ArduPlane in SITL AP_FLAKE8_CLEAN ''' from __future__ import print_function import math import os import time from pymavlink import quaternion from pymavlink import mavutil from common import AutoTest from common import AutoTestTimeoutException from common import NotAchievedException from common import PreconditionFailedException from pymavlink.rotmat import Vector3 import operator # get location of scripts testdir = os.path.dirname(os.path.realpath(__file__)) SITL_START_LOCATION = mavutil.location(-35.362938, 149.165085, 585, 354) WIND = "0,180,0.2" # speed,direction,variance class AutoTestPlane(AutoTest): @staticmethod def get_not_armable_mode_list(): return [] @staticmethod def get_not_disarmed_settable_modes_list(): return ["FOLLOW"] @staticmethod def get_no_position_not_settable_modes_list(): return [] @staticmethod def get_position_armable_modes_list(): return ["GUIDED", "AUTO"] @staticmethod def get_normal_armable_modes_list(): return ["MANUAL", "STABILIZE", "ACRO"] def log_name(self): return "ArduPlane" def test_filepath(self): return os.path.realpath(__file__) def sitl_start_location(self): return SITL_START_LOCATION def defaults_filepath(self): return os.path.join(testdir, 'default_params/plane-jsbsim.parm') def set_current_test_name(self, name): self.current_test_name_directory = "ArduPlane_Tests/" + name + "/" def default_frame(self): return "plane-elevrev" def apply_defaultfile_parameters(self): # plane passes in a defaults_filepath in place of applying # parameters afterwards. pass def is_plane(self): return True def get_stick_arming_channel(self): return int(self.get_parameter("RCMAP_YAW")) def get_disarm_delay(self): return int(self.get_parameter("LAND_DISARMDELAY")) def set_autodisarm_delay(self, delay): self.set_parameter("LAND_DISARMDELAY", delay) def takeoff(self, alt=150, alt_max=None, relative=True): """Takeoff to altitude.""" if alt_max is None: alt_max = alt + 30 self.change_mode("FBWA") self.wait_ready_to_arm() self.arm_vehicle() # some rudder to counteract the prop torque self.set_rc(4, 1700) # some up elevator to keep the tail down self.set_rc(2, 1200) # get it moving a bit first self.set_rc(3, 1300) self.wait_groundspeed(6, 100) # a bit faster again, straighten rudder self.set_rc_from_map({ 3: 1600, 4: 1500, }) self.wait_groundspeed(12, 100) # hit the gas harder now, and give it some more elevator self.set_rc_from_map({ 2: 1100, 3: 2000, }) # gain a bit of altitude self.wait_altitude(alt, alt_max, timeout=30, relative=relative) # level off self.set_rc(2, 1500) self.progress("TAKEOFF COMPLETE") def fly_left_circuit(self): """Fly a left circuit, 200m on a side.""" self.change_mode('FBWA') self.set_rc(3, 2000) self.wait_level_flight() self.progress("Flying left circuit") # do 4 turns for i in range(0, 4): # hard left self.progress("Starting turn %u" % i) self.set_rc(1, 1000) self.wait_heading(270 - (90*i), accuracy=10) self.set_rc(1, 1500) self.progress("Starting leg %u" % i) self.wait_distance(100, accuracy=20) self.progress("Circuit complete") def fly_RTL(self): """Fly to home.""" self.progress("Flying home in RTL") self.change_mode('RTL') self.wait_location(self.homeloc, accuracy=120, target_altitude=self.homeloc.alt+100, height_accuracy=20, timeout=180) self.progress("RTL Complete") def test_need_ekf_to_arm(self): """Loiter where we are.""" self.progress("Ensuring we need EKF to be healthy to arm") self.reboot_sitl() self.context_collect("STATUSTEXT") tstart = self.get_sim_time() success = False while not success: if self.get_sim_time_cached() - tstart > 60: raise NotAchievedException("Did not get correct failure reason") self.send_mavlink_arm_command() try: self.wait_statustext(".*(AHRS not healthy|AHRS: Not healthy).*", timeout=1, check_context=True, regex=True) success = True continue except AutoTestTimeoutException: pass if self.armed(): raise NotAchievedException("Armed unexpectedly") def fly_LOITER(self, num_circles=4): """Loiter where we are.""" self.progress("Testing LOITER for %u turns" % num_circles) self.change_mode('LOITER') m = self.mav.recv_match(type='VFR_HUD', blocking=True) initial_alt = m.alt self.progress("Initial altitude %u\n" % initial_alt) while num_circles > 0: self.wait_heading(0, accuracy=10, timeout=60) self.wait_heading(180, accuracy=10, timeout=60) num_circles -= 1 self.progress("Loiter %u circles left" % num_circles) m = self.mav.recv_match(type='VFR_HUD', blocking=True) final_alt = m.alt self.progress("Final altitude %u initial %u\n" % (final_alt, initial_alt)) self.change_mode('FBWA') if abs(final_alt - initial_alt) > 20: raise NotAchievedException("Failed to maintain altitude") self.progress("Completed Loiter OK") def fly_CIRCLE(self, num_circles=1): """Circle where we are.""" self.progress("Testing CIRCLE for %u turns" % num_circles) self.change_mode('CIRCLE') m = self.mav.recv_match(type='VFR_HUD', blocking=True) initial_alt = m.alt self.progress("Initial altitude %u\n" % initial_alt) while num_circles > 0: self.wait_heading(0, accuracy=10, timeout=60) self.wait_heading(180, accuracy=10, timeout=60) num_circles -= 1 self.progress("CIRCLE %u circles left" % num_circles) m = self.mav.recv_match(type='VFR_HUD', blocking=True) final_alt = m.alt self.progress("Final altitude %u initial %u\n" % (final_alt, initial_alt)) self.change_mode('FBWA') if abs(final_alt - initial_alt) > 20: raise NotAchievedException("Failed to maintain altitude") self.progress("Completed CIRCLE OK") def wait_level_flight(self, accuracy=5, timeout=30): """Wait for level flight.""" tstart = self.get_sim_time() self.progress("Waiting for level flight") self.set_rc(1, 1500) self.set_rc(2, 1500) self.set_rc(4, 1500) while self.get_sim_time_cached() < tstart + timeout: m = self.mav.recv_match(type='ATTITUDE', blocking=True) roll = math.degrees(m.roll) pitch = math.degrees(m.pitch) self.progress("Roll=%.1f Pitch=%.1f" % (roll, pitch)) if math.fabs(roll) <= accuracy and math.fabs(pitch) <= accuracy: self.progress("Attained level flight") return raise NotAchievedException("Failed to attain level flight") def change_altitude(self, altitude, accuracy=30): """Get to a given altitude.""" self.change_mode('FBWA') alt_error = self.mav.messages['VFR_HUD'].alt - altitude if alt_error > 0: self.set_rc(2, 2000) else: self.set_rc(2, 1000) self.wait_altitude(altitude-accuracy/2, altitude+accuracy/2) self.set_rc(2, 1500) self.progress("Reached target altitude at %u" % self.mav.messages['VFR_HUD'].alt) return self.wait_level_flight() def axial_left_roll(self, count=1): """Fly a left axial roll.""" # full throttle! self.set_rc(3, 2000) self.change_altitude(self.homeloc.alt+300) # fly the roll in manual self.change_mode('MANUAL') while count > 0: self.progress("Starting roll") self.set_rc(1, 1000) try: self.wait_roll(-150, accuracy=90) self.wait_roll(150, accuracy=90) self.wait_roll(0, accuracy=90) except Exception as e: self.set_rc(1, 1500) raise e count -= 1 # back to FBWA self.set_rc(1, 1500) self.change_mode('FBWA') self.set_rc(3, 1700) return self.wait_level_flight() def inside_loop(self, count=1): """Fly a inside loop.""" # full throttle! self.set_rc(3, 2000) self.change_altitude(self.homeloc.alt+300) # fly the loop in manual self.change_mode('MANUAL') while count > 0: self.progress("Starting loop") self.set_rc(2, 1000) self.wait_pitch(-60, accuracy=20) self.wait_pitch(0, accuracy=20) count -= 1 # back to FBWA self.set_rc(2, 1500) self.change_mode('FBWA') self.set_rc(3, 1700) return self.wait_level_flight() def set_attitude_target(self, tolerance=10): """Test setting of attitude target in guided mode.""" self.change_mode("GUIDED") # self.set_parameter("STALL_PREVENTION", 0) state_roll_over = "roll-over" state_stabilize_roll = "stabilize-roll" state_hold = "hold" state_roll_back = "roll-back" state_done = "done" tstart = self.get_sim_time() try: state = state_roll_over while state != state_done: m = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=0.1) now = self.get_sim_time_cached() if now - tstart > 20: raise AutoTestTimeoutException("Manuevers not completed") if m is None: continue r = math.degrees(m.roll) if state == state_roll_over: target_roll_degrees = 60 if abs(r - target_roll_degrees) < tolerance: state = state_stabilize_roll stabilize_start = now elif state == state_stabilize_roll: # just give it a little time to sort it self out if now - stabilize_start > 2: state = state_hold hold_start = now elif state == state_hold: target_roll_degrees = 60 if now - hold_start > tolerance: state = state_roll_back if abs(r - target_roll_degrees) > tolerance: raise NotAchievedException("Failed to hold attitude") elif state == state_roll_back: target_roll_degrees = 0 if abs(r - target_roll_degrees) < tolerance: state = state_done else: raise ValueError("Unknown state %s" % str(state)) m_nav = self.mav.messages['NAV_CONTROLLER_OUTPUT'] self.progress("%s Roll: %f desired=%f set=%f" % (state, r, m_nav.nav_roll, target_roll_degrees)) time_boot_millis = 0 # FIXME target_system = 1 # FIXME target_component = 1 # FIXME type_mask = 0b10000001 ^ 0xFF # FIXME # attitude in radians: q = quaternion.Quaternion([math.radians(target_roll_degrees), 0, 0]) roll_rate_radians = 0.5 pitch_rate_radians = 0 yaw_rate_radians = 0 thrust = 1.0 self.mav.mav.set_attitude_target_send(time_boot_millis, target_system, target_component, type_mask, q, roll_rate_radians, pitch_rate_radians, yaw_rate_radians, thrust) except Exception as e: self.change_mode('FBWA') self.set_rc(3, 1700) raise e # back to FBWA self.change_mode('FBWA') self.set_rc(3, 1700) self.wait_level_flight() def test_stabilize(self, count=1): """Fly stabilize mode.""" # full throttle! self.set_rc(3, 2000) self.set_rc(2, 1300) self.change_altitude(self.homeloc.alt+300) self.set_rc(2, 1500) self.change_mode('STABILIZE') while count > 0: self.progress("Starting roll") self.set_rc(1, 2000) self.wait_roll(-150, accuracy=90) self.wait_roll(150, accuracy=90) self.wait_roll(0, accuracy=90) count -= 1 self.set_rc(1, 1500) self.wait_roll(0, accuracy=5) # back to FBWA self.change_mode('FBWA') self.set_rc(3, 1700) return self.wait_level_flight() def test_acro(self, count=1): """Fly ACRO mode.""" # full throttle! self.set_rc(3, 2000) self.set_rc(2, 1300) self.change_altitude(self.homeloc.alt+300) self.set_rc(2, 1500) self.change_mode('ACRO') while count > 0: self.progress("Starting roll") self.set_rc(1, 1000) self.wait_roll(-150, accuracy=90) self.wait_roll(150, accuracy=90) self.wait_roll(0, accuracy=90) count -= 1 self.set_rc(1, 1500) # back to FBWA self.change_mode('FBWA') self.wait_level_flight() self.change_mode('ACRO') count = 2 while count > 0: self.progress("Starting loop") self.set_rc(2, 1000) self.wait_pitch(-60, accuracy=20) self.wait_pitch(0, accuracy=20) count -= 1 self.set_rc(2, 1500) # back to FBWA self.change_mode('FBWA') self.set_rc(3, 1700) return self.wait_level_flight() def test_FBWB(self, mode='FBWB'): """Fly FBWB or CRUISE mode.""" self.change_mode(mode) self.set_rc(3, 1700) self.set_rc(2, 1500) # lock in the altitude by asking for an altitude change then releasing self.set_rc(2, 1000) self.wait_distance(50, accuracy=20) self.set_rc(2, 1500) self.wait_distance(50, accuracy=20) m = self.mav.recv_match(type='VFR_HUD', blocking=True) initial_alt = m.alt self.progress("Initial altitude %u\n" % initial_alt) self.progress("Flying right circuit") # do 4 turns for i in range(0, 4): # hard left self.progress("Starting turn %u" % i) self.set_rc(1, 1800) try: self.wait_heading(0 + (90*i), accuracy=20, timeout=60) except Exception as e: self.set_rc(1, 1500) raise e self.set_rc(1, 1500) self.progress("Starting leg %u" % i) self.wait_distance(100, accuracy=20) self.progress("Circuit complete") self.progress("Flying rudder left circuit") # do 4 turns for i in range(0, 4): # hard left self.progress("Starting turn %u" % i) self.set_rc(4, 1900) try: self.wait_heading(360 - (90*i), accuracy=20, timeout=60) except Exception as e: self.set_rc(4, 1500) raise e self.set_rc(4, 1500) self.progress("Starting leg %u" % i) self.wait_distance(100, accuracy=20) self.progress("Circuit complete") m = self.mav.recv_match(type='VFR_HUD', blocking=True) final_alt = m.alt self.progress("Final altitude %u initial %u\n" % (final_alt, initial_alt)) # back to FBWA self.change_mode('FBWA') if abs(final_alt - initial_alt) > 20: raise NotAchievedException("Failed to maintain altitude") return self.wait_level_flight() def fly_mission(self, filename, mission_timeout=60.0, strict=True): """Fly a mission from a file.""" self.progress("Flying mission %s" % filename) num_wp = self.load_mission(filename, strict=strict)-1 self.set_current_waypoint(0, check_afterwards=False) self.change_mode('AUTO') self.wait_waypoint(1, num_wp, max_dist=60) self.wait_groundspeed(0, 0.5, timeout=mission_timeout) self.wait_statustext("Auto disarmed", timeout=60) self.progress("Mission OK") def fly_do_reposition(self): self.progress("Takeoff") self.takeoff(alt=50) self.set_rc(3, 1500) self.progress("Entering guided and flying somewhere constant") self.change_mode("GUIDED") loc = self.mav.location() self.location_offset_ne(loc, 500, 500) new_alt = 100 self.run_cmd_int( mavutil.mavlink.MAV_CMD_DO_REPOSITION, 0, 0, 0, 0, int(loc.lat * 1e7), int(loc.lng * 1e7), new_alt, # alt frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, ) self.wait_altitude(new_alt-10, new_alt, timeout=30, relative=True) self.fly_home_land_and_disarm() def fly_deepstall(self): # self.fly_deepstall_absolute() self.fly_deepstall_relative() def fly_deepstall_absolute(self): self.start_subtest("DeepStall Relative Absolute") self.set_parameter("LAND_TYPE", 1) deepstall_elevator_pwm = 1661 self.set_parameter("LAND_DS_ELEV_PWM", deepstall_elevator_pwm) self.load_mission("plane-deepstall-mission.txt") self.change_mode("AUTO") self.wait_ready_to_arm() self.arm_vehicle() self.progress("Waiting for deepstall messages") self.wait_text("Deepstall: Entry: ", timeout=240) # assume elevator is on channel 2: self.wait_servo_channel_value(2, deepstall_elevator_pwm) self.disarm_wait(timeout=120) self.progress("Flying home") self.takeoff(10) self.set_parameter("LAND_TYPE", 0) self.fly_home_land_and_disarm() def fly_deepstall_relative(self): self.start_subtest("DeepStall Relative") self.set_parameter("LAND_TYPE", 1) deepstall_elevator_pwm = 1661 self.set_parameter("LAND_DS_ELEV_PWM", deepstall_elevator_pwm) self.load_mission("plane-deepstall-relative-mission.txt") self.change_mode("AUTO") self.wait_ready_to_arm() self.arm_vehicle() self.progress("Waiting for deepstall messages") self.wait_text("Deepstall: Entry: ", timeout=240) # assume elevator is on channel 2: self.wait_servo_channel_value(2, deepstall_elevator_pwm) self.disarm_wait(timeout=120) self.progress("Flying home") self.takeoff(100) self.set_parameter("LAND_TYPE", 0) self.fly_home_land_and_disarm(timeout=240) def fly_do_change_speed(self): # the following lines ensure we revert these parameter values # - DO_CHANGE_AIRSPEED is a permanent vehicle change! self.set_parameter("TRIM_ARSPD_CM", self.get_parameter("TRIM_ARSPD_CM")) self.set_parameter("MIN_GNDSPD_CM", self.get_parameter("MIN_GNDSPD_CM")) self.progress("Takeoff") self.takeoff(alt=100) self.set_rc(3, 1500) # ensure we know what the airspeed is: self.progress("Entering guided and flying somewhere constant") self.change_mode("GUIDED") self.run_cmd_int( mavutil.mavlink.MAV_CMD_DO_REPOSITION, 0, 0, 0, 0, 12345, # lat* 1e7 12345, # lon* 1e7 100 # alt ) self.delay_sim_time(10) self.progress("Ensuring initial speed is known and relatively constant") initial_speed = 21.5 timeout = 10 tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > timeout: break m = self.mav.recv_match(type='VFR_HUD', blocking=True) self.progress("GroundSpeed: %f want=%f" % (m.groundspeed, initial_speed)) if abs(initial_speed - m.groundspeed) > 1: raise NotAchievedException("Initial speed not as expected (want=%f got=%f" % (initial_speed, m.groundspeed)) self.progress("Setting groundspeed") new_target_groundspeed = initial_speed + 5 self.run_cmd( mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, 1, # groundspeed new_target_groundspeed, -1, # throttle / no change 0, # absolute values 0, 0, 0) self.wait_groundspeed(new_target_groundspeed-0.5, new_target_groundspeed+0.5, timeout=40) self.progress("Adding some wind, ensuring groundspeed holds") self.set_parameter("SIM_WIND_SPD", 5) self.delay_sim_time(5) self.wait_groundspeed(new_target_groundspeed-0.5, new_target_groundspeed+0.5, timeout=40) self.set_parameter("SIM_WIND_SPD", 0) self.progress("Setting airspeed") new_target_airspeed = initial_speed + 5 self.run_cmd( mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, 0, # airspeed new_target_airspeed, -1, # throttle / no change 0, # absolute values 0, 0, 0) self.wait_groundspeed(new_target_airspeed-0.5, new_target_airspeed+0.5) self.progress("Adding some wind, hoping groundspeed increases/decreases") self.set_parameter("SIM_WIND_SPD", 5) self.set_parameter("SIM_WIND_DIR", 270) self.delay_sim_time(5) timeout = 10 tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > timeout: raise NotAchievedException("Did not achieve groundspeed delta") m = self.mav.recv_match(type='VFR_HUD', blocking=True) delta = abs(m.airspeed - m.groundspeed) want_delta = 4 self.progress("groundspeed and airspeed should be different (have=%f want=%f)" % (delta, want_delta)) if delta > want_delta: break self.fly_home_land_and_disarm(timeout=240) def fly_home_land_and_disarm(self, timeout=120): filename = "flaps.txt" self.progress("Using %s to fly home" % filename) self.load_mission(filename) self.change_mode("AUTO") self.set_current_waypoint(8) self.drain_mav() # TODO: reflect on file to find this magic waypoint number? # self.wait_waypoint(7, num_wp-1, timeout=500) # we # tend to miss the final waypoint by a fair bit, and # this is probably too noisy anyway? self.wait_disarmed(timeout=timeout) def fly_flaps(self): """Test flaps functionality.""" filename = "flaps.txt" self.context_push() ex = None try: flaps_ch = 5 servo_ch = 5 self.set_parameter("SERVO%u_FUNCTION" % servo_ch, 3) # flapsauto self.set_parameter("RC%u_OPTION" % flaps_ch, 208) # Flaps RCx_OPTION self.set_parameter("LAND_FLAP_PERCNT", 50) self.set_parameter("LOG_DISARMED", 1) flaps_ch_min = 1000 flaps_ch_trim = 1500 flaps_ch_max = 2000 self.set_parameter("RC%u_MIN" % flaps_ch, flaps_ch_min) self.set_parameter("RC%u_MAX" % flaps_ch, flaps_ch_max) self.set_parameter("RC%u_TRIM" % flaps_ch, flaps_ch_trim) servo_ch_min = 1200 servo_ch_trim = 1300 servo_ch_max = 1800 self.set_parameter("SERVO%u_MIN" % servo_ch, servo_ch_min) self.set_parameter("SERVO%u_MAX" % servo_ch, servo_ch_max) self.set_parameter("SERVO%u_TRIM" % servo_ch, servo_ch_trim) self.progress("check flaps are not deployed") self.set_rc(flaps_ch, flaps_ch_min) self.wait_servo_channel_value(servo_ch, servo_ch_min) self.progress("deploy the flaps") self.set_rc(flaps_ch, flaps_ch_max) tstart = self.get_sim_time() self.wait_servo_channel_value(servo_ch, servo_ch_max) tstop = self.get_sim_time_cached() delta_time = tstop - tstart delta_time_min = 0.5 delta_time_max = 1.5 if delta_time < delta_time_min or delta_time > delta_time_max: raise NotAchievedException(( "Flaps Slew not working (%f seconds)" % (delta_time,))) self.progress("undeploy flaps") self.set_rc(flaps_ch, flaps_ch_min) self.wait_servo_channel_value(servo_ch, servo_ch_min) self.progress("Flying mission %s" % filename) self.load_mission(filename) self.set_current_waypoint(1) self.change_mode('AUTO') self.wait_ready_to_arm() self.arm_vehicle() last_mission_current_msg = 0 last_seq = None while self.armed(): m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True) time_delta = (self.get_sim_time_cached() - last_mission_current_msg) if (time_delta > 1 or m.seq != last_seq): dist = None x = self.mav.messages.get("NAV_CONTROLLER_OUTPUT", None) if x is not None: dist = x.wp_dist self.progress("MISSION_CURRENT.seq=%u (dist=%s)" % (m.seq, str(dist))) last_mission_current_msg = self.get_sim_time_cached() last_seq = m.seq # flaps should undeploy at the end self.wait_servo_channel_value(servo_ch, servo_ch_min, timeout=30) # do a short flight in FBWA, watching for flaps # self.mavproxy.send('switch 4\n') # self.wait_mode('FBWA') # self.delay_sim_time(10) # self.mavproxy.send('switch 6\n') # self.wait_mode('MANUAL') # self.delay_sim_time(10) self.progress("Flaps OK") except Exception as e: self.print_exception_caught(e) ex = e self.context_pop() if ex: if self.armed(): self.disarm_vehicle() raise ex def test_rc_relay(self): '''test toggling channel 12 toggles relay''' self.set_parameter("RC12_OPTION", 28) # Relay On/Off self.set_rc(12, 1000) self.reboot_sitl() # needed for RC12_OPTION to take effect off = self.get_parameter("SIM_PIN_MASK") if off: raise PreconditionFailedException("SIM_MASK_PIN off") # allow time for the RC library to register initial value: self.delay_sim_time(1) self.set_rc(12, 2000) self.wait_heartbeat() self.wait_heartbeat() on = self.get_parameter("SIM_PIN_MASK") if not on: raise NotAchievedException("SIM_PIN_MASK doesn't reflect ON") self.set_rc(12, 1000) self.wait_heartbeat() self.wait_heartbeat() off = self.get_parameter("SIM_PIN_MASK") if off: raise NotAchievedException("SIM_PIN_MASK doesn't reflect OFF") def test_rc_option_camera_trigger(self): '''test toggling channel 12 takes picture''' self.set_parameter("RC12_OPTION", 9) # CameraTrigger self.reboot_sitl() # needed for RC12_OPTION to take effect x = self.mav.messages.get("CAMERA_FEEDBACK", None) if x is not None: raise PreconditionFailedException("Receiving CAMERA_FEEDBACK?!") self.set_rc(12, 2000) tstart = self.get_sim_time() while self.get_sim_time_cached() - tstart < 10: x = self.mav.messages.get("CAMERA_FEEDBACK", None) if x is not None: break self.wait_heartbeat() self.set_rc(12, 1000) if x is None: raise NotAchievedException("No CAMERA_FEEDBACK message received") def test_throttle_failsafe(self): self.change_mode('MANUAL') m = self.mav.recv_match(type='SYS_STATUS', blocking=True) receiver_bit = mavutil.mavlink.MAV_SYS_STATUS_SENSOR_RC_RECEIVER self.progress("Testing receiver enabled") if (not (m.onboard_control_sensors_enabled & receiver_bit)): raise PreconditionFailedException() self.progress("Testing receiver present") if (not (m.onboard_control_sensors_present & receiver_bit)): raise PreconditionFailedException() self.progress("Testing receiver health") if (not (m.onboard_control_sensors_health & receiver_bit)): raise PreconditionFailedException() self.progress("Ensure we know original throttle value") self.wait_rc_channel_value(3, 1000) self.set_parameter("THR_FS_VALUE", 960) self.progress("Failing receiver (throttle-to-950)") self.context_collect("HEARTBEAT") self.set_parameter("SIM_RC_FAIL", 2) # throttle-to-950 self.wait_mode('RTL') # long failsafe if (not self.get_mode_from_mode_mapping("CIRCLE") in [x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]): raise NotAchievedException("Did not go via circle mode") self.progress("Ensure we've had our throttle squashed to 950") self.wait_rc_channel_value(3, 950) self.drain_mav_unparsed() m = self.mav.recv_match(type='SYS_STATUS', blocking=True) self.progress("Got (%s)" % str(m)) self.progress("Testing receiver enabled") if (not (m.onboard_control_sensors_enabled & receiver_bit)): raise NotAchievedException("Receiver not enabled") self.progress("Testing receiver present") if (not (m.onboard_control_sensors_present & receiver_bit)): raise NotAchievedException("Receiver not present") # skip this until RC is fixed # self.progress("Testing receiver health") # if (m.onboard_control_sensors_health & receiver_bit): # raise NotAchievedException("Sensor healthy when it shouldn't be") self.set_parameter("SIM_RC_FAIL", 0) self.drain_mav_unparsed() # have to allow time for RC to be fetched from SITL self.delay_sim_time(0.5) m = self.mav.recv_match(type='SYS_STATUS', blocking=True) self.progress("Testing receiver enabled") if (not (m.onboard_control_sensors_enabled & receiver_bit)): raise NotAchievedException("Receiver not enabled") self.progress("Testing receiver present") if (not (m.onboard_control_sensors_present & receiver_bit)): raise NotAchievedException("Receiver not present") self.progress("Testing receiver health") if (not (m.onboard_control_sensors_health & receiver_bit)): raise NotAchievedException("Receiver not healthy2") self.change_mode('MANUAL') self.progress("Failing receiver (no-pulses)") self.context_collect("HEARTBEAT") self.set_parameter("SIM_RC_FAIL", 1) # no-pulses self.wait_mode('RTL') # long failsafe if (not self.get_mode_from_mode_mapping("CIRCLE") in [x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]): raise NotAchievedException("Did not go via circle mode") self.drain_mav_unparsed() m = self.mav.recv_match(type='SYS_STATUS', blocking=True) self.progress("Got (%s)" % str(m)) self.progress("Testing receiver enabled") if (not (m.onboard_control_sensors_enabled & receiver_bit)): raise NotAchievedException("Receiver not enabled") self.progress("Testing receiver present") if (not (m.onboard_control_sensors_present & receiver_bit)): raise NotAchievedException("Receiver not present") self.progress("Testing receiver health") if (m.onboard_control_sensors_health & receiver_bit): raise NotAchievedException("Sensor healthy when it shouldn't be") self.progress("Making RC work again") self.set_parameter("SIM_RC_FAIL", 0) # have to allow time for RC to be fetched from SITL self.progress("Giving receiver time to recover") self.delay_sim_time(0.5) self.drain_mav_unparsed() m = self.mav.recv_match(type='SYS_STATUS', blocking=True) self.progress("Testing receiver enabled") if (not (m.onboard_control_sensors_enabled & receiver_bit)): raise NotAchievedException("Receiver not enabled") self.progress("Testing receiver present") if (not (m.onboard_control_sensors_present & receiver_bit)): raise NotAchievedException("Receiver not present") self.progress("Testing receiver health") if (not (m.onboard_control_sensors_health & receiver_bit)): raise NotAchievedException("Receiver not healthy") self.change_mode('MANUAL') self.progress("Ensure long failsafe can trigger when short failsafe disabled") self.context_push() self.context_collect("STATUSTEXT") ex = None try: self.set_parameter("FS_SHORT_ACTN", 3) # 3 means disabled self.set_parameter("SIM_RC_FAIL", 1) self.wait_statustext("Long event on", check_context=True) self.wait_mode("RTL") # self.context_clear_collection("STATUSTEXT") self.set_parameter("SIM_RC_FAIL", 0) self.wait_text("Long event off", check_context=True) self.change_mode("MANUAL") self.progress("Trying again with THR_FS_VALUE") self.set_parameter("THR_FS_VALUE", 960) self.set_parameter("SIM_RC_FAIL", 2) self.wait_statustext("Long event on", check_context=True) self.wait_mode("RTL") except Exception as e: self.print_exception_caught(e) ex = e self.context_pop() if ex is not None: raise ex def test_throttle_failsafe_fence(self): fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE self.progress("Checking fence is not present before being configured") m = self.mav.recv_match(type='SYS_STATUS', blocking=True) self.progress("Got (%s)" % str(m)) if (m.onboard_control_sensors_enabled & fence_bit): raise NotAchievedException("Fence enabled before being configured") self.change_mode('MANUAL') self.wait_ready_to_arm() self.load_fence("CMAC-fence.txt") self.set_parameter("RC7_OPTION", 11) # AC_Fence uses Aux switch functionality self.set_parameter("FENCE_ACTION", 4) # Fence action Brake self.set_rc_from_map({ 3: 1000, 7: 2000, }) # Turn fence on with aux function m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=2) self.progress("Got (%s)" % str(m)) if m is None: raise NotAchievedException("Got FENCE_STATUS unexpectedly") self.progress("Checking fence is initially OK") self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE, present=True, enabled=True, healthy=True, verbose=True, timeout=30) self.set_parameter("THR_FS_VALUE", 960) self.progress("Failing receiver (throttle-to-950)") self.set_parameter("SIM_RC_FAIL", 2) # throttle-to-950 self.wait_mode("CIRCLE") self.delay_sim_time(1) # give self.drain_mav_unparsed() self.progress("Checking fence is OK after receiver failure (bind-values)") fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE m = self.mav.recv_match(type='SYS_STATUS', blocking=True) self.progress("Got (%s)" % str(m)) if (not (m.onboard_control_sensors_enabled & fence_bit)): raise NotAchievedException("Fence not enabled after RC fail") self.do_fence_disable() # Ensure the fence is disabled after test def test_gripper_mission(self): self.context_push() ex = None try: self.load_mission("plane-gripper-mission.txt") self.set_current_waypoint(1) self.change_mode('AUTO') self.wait_ready_to_arm() self.arm_vehicle() self.wait_statustext("Gripper Grabbed", timeout=60) self.wait_statustext("Gripper Released", timeout=60) self.wait_statustext("Auto disarmed", timeout=60) except Exception as e: self.print_exception_caught(e) ex = e self.context_pop() if ex is not None: raise ex def assert_fence_sys_status(self, present, enabled, health): self.delay_sim_time(1) self.drain_mav_unparsed() m = self.mav.recv_match(type='SYS_STATUS', blocking=True, timeout=1) if m is None: raise NotAchievedException("Did not receive SYS_STATUS") tests = [ ("present", present, m.onboard_control_sensors_present), ("enabled", enabled, m.onboard_control_sensors_enabled), ("health", health, m.onboard_control_sensors_health), ] bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE for test in tests: (name, want, field) = test got = (field & bit) != 0 if want != got: raise NotAchievedException("fence status incorrect; %s want=%u got=%u" % (name, want, got)) def wait_circling_point_with_radius(self, loc, want_radius, epsilon=5.0, min_circle_time=5, timeout=120): on_radius_start_heading = None average_radius = 0.0 circle_time_start = 0 done_time = False done_angle = False tstart = self.get_sim_time() while True: if self.get_sim_time() - tstart > timeout: raise AutoTestTimeoutException("Did not get onto circle") here = self.mav.location() got_radius = self.get_distance(loc, here) average_radius = 0.95*average_radius + 0.05*got_radius on_radius = abs(got_radius - want_radius) < epsilon m = self.mav.recv_match(type='VFR_HUD', blocking=True) heading = m.heading on_string = "off" got_angle = "" if on_radius_start_heading is not None: got_angle = "%0.2f" % abs(on_radius_start_heading - heading) # FIXME on_string = "on" want_angle = 180 # we don't actually get this (angle-substraction issue. But we get enough... self.progress("wait-circling: got-r=%0.2f want-r=%f avg-r=%f %s want-a=%0.1f got-a=%s" % (got_radius, want_radius, average_radius, on_string, want_angle, got_angle)) if on_radius: if on_radius_start_heading is None: on_radius_start_heading = heading average_radius = got_radius circle_time_start = self.get_sim_time() continue if abs(on_radius_start_heading - heading) > want_angle: # FIXME done_angle = True if self.get_sim_time() - circle_time_start > min_circle_time: done_time = True if done_time and done_angle: return continue if on_radius_start_heading is not None: average_radius = 0.0 on_radius_start_heading = None circle_time_start = 0 def test_fence_static(self): ex = None try: self.progress("Checking for bizarre healthy-when-not-present-or-enabled") self.set_parameter("FENCE_TYPE", 4) # Start by only setting polygon fences, otherwise fence will report present self.assert_fence_sys_status(False, False, True) self.load_fence("CMAC-fence.txt") m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=2) if m is not None: raise NotAchievedException("Got FENCE_STATUS unexpectedly") self.drain_mav_unparsed() self.set_parameter("FENCE_ACTION", 0) # report only self.assert_fence_sys_status(True, False, True) self.set_parameter("FENCE_ACTION", 1) # RTL self.assert_fence_sys_status(True, False, True) self.do_fence_enable() self.assert_fence_sys_status(True, True, True) m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=2) if m is None: raise NotAchievedException("Did not get FENCE_STATUS") if m.breach_status: raise NotAchievedException("Breached fence unexpectedly (%u)" % (m.breach_status)) self.do_fence_disable() self.assert_fence_sys_status(True, False, True) self.set_parameter("FENCE_ACTION", 1) self.assert_fence_sys_status(True, False, True) self.set_parameter("FENCE_ACTION", 0) self.assert_fence_sys_status(True, False, True) self.clear_fence() if self.get_parameter("FENCE_TOTAL") != 0: raise NotAchievedException("Expected zero points remaining") self.assert_fence_sys_status(False, False, True) self.progress("Trying to enable fence with no points") self.do_fence_enable(want_result=mavutil.mavlink.MAV_RESULT_FAILED) # test a rather unfortunate behaviour: self.progress("Killing a live fence with fence-clear") self.load_fence("CMAC-fence.txt") self.set_parameter("FENCE_ACTION", 1) # AC_FENCE_ACTION_RTL_AND_LAND == 1. mavutil.mavlink.FENCE_ACTION_RTL == 4 self.do_fence_enable() self.assert_fence_sys_status(True, True, True) self.clear_fence() self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE, False, False, True) if self.get_parameter("FENCE_TOTAL") != 0: raise NotAchievedException("Expected zero points remaining") self.assert_fence_sys_status(False, False, True) self.do_fence_disable() # ensure that a fence is present if it is tin can, min alt or max alt self.progress("Test other fence types (tin-can, min alt, max alt") self.set_parameter("FENCE_TYPE", 1) # max alt self.assert_fence_sys_status(True, False, True) self.set_parameter("FENCE_TYPE", 8) # min alt self.assert_fence_sys_status(True, False, True) self.set_parameter("FENCE_TYPE", 2) # tin can self.assert_fence_sys_status(True, False, True) # Test cannot arm if outside of fence and fence is enabled self.progress("Test Arming while vehicle below FENCE_ALT_MIN") default_fence_alt_min = self.get_parameter("FENCE_ALT_MIN") self.set_parameter("FENCE_ALT_MIN", 50) self.set_parameter("FENCE_TYPE", 8) # Enables minimum altitude breaches self.do_fence_enable() self.delay_sim_time(2) # Allow breach to propagate self.assert_fence_enabled() self.try_arm(False, "vehicle outside fence") self.do_fence_disable() self.set_parameter("FENCE_ALT_MIN", default_fence_alt_min) # Test arming outside inclusion zone self.progress("Test arming while vehicle outside of inclusion zone") self.set_parameter("FENCE_TYPE", 4) # Enables polygon fence types locs = [ mavutil.location(1.000, 1.000, 0, 0), mavutil.location(1.000, 1.001, 0, 0), mavutil.location(1.001, 1.001, 0, 0), mavutil.location(1.001, 1.000, 0, 0) ] self.upload_fences_from_locations( mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, [ locs ] ) self.delay_sim_time(10) # let fence check run so it loads-from-eeprom self.do_fence_enable() self.assert_fence_enabled() self.delay_sim_time(2) # Allow breach to propagate self.try_arm(False, "vehicle outside fence") self.do_fence_disable() self.clear_fence() self.progress("Test arming while vehicle inside exclusion zone") self.set_parameter("FENCE_TYPE", 4) # Enables polygon fence types home_loc = self.mav.location() locs = [ mavutil.location(home_loc.lat - 0.001, home_loc.lng - 0.001, 0, 0), mavutil.location(home_loc.lat - 0.001, home_loc.lng + 0.001, 0, 0), mavutil.location(home_loc.lat + 0.001, home_loc.lng + 0.001, 0, 0), mavutil.location(home_loc.lat + 0.001, home_loc.lng - 0.001, 0, 0), ] self.upload_fences_from_locations( mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, [ locs ] ) self.delay_sim_time(10) # let fence check run so it loads-from-eeprom self.do_fence_enable() self.assert_fence_enabled() self.delay_sim_time(2) # Allow breach to propagate self.try_arm(False, "vehicle outside fence") self.do_fence_disable() self.clear_fence() except Exception as e: self.print_exception_caught(e) ex = e self.clear_fence() if ex is not None: raise ex def test_fence_breach_circle_at(self, loc, disable_on_breach=False): ex = None try: self.load_fence("CMAC-fence.txt") want_radius = 100 # when ArduPlane is fixed, remove this fudge factor REALLY_BAD_FUDGE_FACTOR = 1.16 expected_radius = REALLY_BAD_FUDGE_FACTOR * want_radius self.set_parameter("RTL_RADIUS", want_radius) self.set_parameter("NAVL1_LIM_BANK", 60) self.set_parameter("FENCE_ACTION", 1) # AC_FENCE_ACTION_RTL_AND_LAND == 1. mavutil.mavlink.FENCE_ACTION_RTL == 4 self.do_fence_enable() self.assert_fence_sys_status(True, True, True) self.takeoff(alt=45, alt_max=300) tstart = self.get_sim_time() while True: if self.get_sim_time() - tstart > 30: raise NotAchievedException("Did not breach fence") m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=2) if m is None: raise NotAchievedException("Did not get FENCE_STATUS") if m.breach_status == 0: continue # we've breached; check our state; if m.breach_type != mavutil.mavlink.FENCE_BREACH_BOUNDARY: raise NotAchievedException("Unexpected breach type %u" % (m.breach_type,)) if m.breach_count == 0: raise NotAchievedException("Unexpected breach count %u" % (m.breach_count,)) self.assert_fence_sys_status(True, True, False) break if disable_on_breach: self.do_fence_disable() self.wait_circling_point_with_radius(loc, expected_radius) self.disarm_vehicle(force=True) self.reboot_sitl() except Exception as e: self.print_exception_caught(e) ex = e self.clear_fence() if ex is not None: raise ex def test_fence_rtl(self): self.progress("Testing FENCE_ACTION_RTL no rally point") # have to disable the fence once we've breached or we breach # it as part of the loiter-at-home! self.test_fence_breach_circle_at(self.home_position_as_mav_location(), disable_on_breach=True) def test_fence_rtl_rally(self): ex = None target_system = 1 target_component = 1 try: self.progress("Testing FENCE_ACTION_RTL with rally point") self.wait_ready_to_arm() loc = self.home_position_as_mav_location() self.location_offset_ne(loc, 50, -50) self.set_parameter("RALLY_TOTAL", 1) self.mav.mav.rally_point_send(target_system, target_component, 0, # sequence number 1, # total count int(loc.lat * 1e7), int(loc.lng * 1e7), 15, 0, # "break" alt?! 0, # "land dir" 0) # flags self.delay_sim_time(1) self.mavproxy.send("rally list\n") self.test_fence_breach_circle_at(loc) except Exception as e: self.print_exception_caught(e) ex = e self.mavproxy.send('rally clear\n') if ex is not None: raise ex def test_fence_ret_rally(self): """ Tests the FENCE_RET_RALLY flag, either returning to fence return point, or rally point """ target_system = 1 target_component = 1 self.progress("Testing FENCE_ACTION_RTL with fence rally point") self.wait_ready_to_arm() self.homeloc = self.mav.location() # Grab a location for fence return point, and upload it. fence_loc = self.home_position_as_mav_location() self.location_offset_ne(fence_loc, 50, 50) fence_return_mission_items = [ self.mav.mav.mission_item_int_encode( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_INT, mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT, 0, # current 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(fence_loc.lat * 1e7), # latitude int(fence_loc.lng * 1e7), # longitude 0, # altitude mavutil.mavlink.MAV_MISSION_TYPE_FENCE ) ] self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, fence_return_mission_items) self.delay_sim_time(1) # Grab a location for rally point, and upload it. rally_loc = self.home_position_as_mav_location() self.location_offset_ne(rally_loc, -50, -50) self.set_parameter("RALLY_TOTAL", 1) self.mav.mav.rally_point_send(target_system, target_component, 0, # sequence number 1, # total count int(rally_loc.lat * 1e7), int(rally_loc.lng * 1e7), 15, 0, # "break" alt?! 0, # "land dir" 0) # flags self.delay_sim_time(1) return_radius = 100 return_alt = 80 self.set_parameter("RTL_RADIUS", return_radius) self.set_parameter("FENCE_ACTION", 6) # Set Fence Action to Guided self.set_parameter("FENCE_TYPE", 8) # Only use fence floor self.set_parameter("FENCE_RET_ALT", return_alt) self.do_fence_enable() self.assert_fence_enabled() self.takeoff(alt=50, alt_max=300) # Trigger fence breach, fly to rally location self.set_parameter("FENCE_RET_RALLY", 1) self.set_parameter("FENCE_ALT_MIN", 60) self.wait_circling_point_with_radius(rally_loc, return_radius) self.set_parameter("FENCE_ALT_MIN", 0) # Clear fence breach # Fly up before re-triggering fence breach. Fly to fence return point self.change_altitude(self.homeloc.alt+30) self.set_parameter("FENCE_RET_RALLY", 0) self.set_parameter("FENCE_ALT_MIN", 60) self.wait_altitude(altitude_min=return_alt-3, altitude_max=return_alt+3, relative=True) self.wait_circling_point_with_radius(fence_loc, return_radius) self.do_fence_disable() # Disable fence so we can land self.fly_home_land_and_disarm() # Pack it up, we're going home. def test_parachute(self): self.set_rc(9, 1000) self.set_parameter("CHUTE_ENABLED", 1) self.set_parameter("CHUTE_TYPE", 10) self.set_parameter("SERVO9_FUNCTION", 27) self.set_parameter("SIM_PARA_ENABLE", 1) self.set_parameter("SIM_PARA_PIN", 9) self.load_mission("plane-parachute-mission.txt") self.set_current_waypoint(1) self.change_mode('AUTO') self.wait_ready_to_arm() self.arm_vehicle() self.wait_statustext("BANG", timeout=60) self.disarm_vehicle(force=True) self.reboot_sitl() def test_parachute_sinkrate(self): self.set_rc(9, 1000) self.set_parameter("CHUTE_ENABLED", 1) self.set_parameter("CHUTE_TYPE", 10) self.set_parameter("SERVO9_FUNCTION", 27) self.set_parameter("SIM_PARA_ENABLE", 1) self.set_parameter("SIM_PARA_PIN", 9) self.set_parameter("CHUTE_CRT_SINK", 9) self.progress("Takeoff") self.takeoff(alt=300) self.progress("Diving") self.set_rc(2, 2000) self.wait_statustext("BANG", timeout=60) self.disarm_vehicle(force=True) self.reboot_sitl() def run_subtest(self, desc, func): self.start_subtest(desc) func() def clear_fence(self): '''Plane doesn't use MissionItemProtocol - yet - so clear it using mavproxy:''' self.clear_fence_using_mavproxy() def fly_ahrs2_test(self): '''check secondary estimator is looking OK''' ahrs2 = self.mav.recv_match(type='AHRS2', blocking=True, timeout=1) if ahrs2 is None: raise NotAchievedException("Did not receive AHRS2 message") self.progress("AHRS2: %s" % str(ahrs2)) # check location gpi = self.mav.recv_match( type='GLOBAL_POSITION_INT', blocking=True, timeout=5 ) if gpi is None: raise NotAchievedException("Did not receive GLOBAL_POSITION_INT message") self.progress("GPI: %s" % str(gpi)) if self.get_distance_int(gpi, ahrs2) > 10: raise NotAchievedException("Secondary location looks bad") # check attitude simstate = self.mav.recv_match(type='SIMSTATE', blocking=True, timeout=1) attitude_quaternion = self.poll_message('ATTITUDE_QUATERNION') if simstate is None: raise NotAchievedException("Did not receive SIMSTATE message") self.progress("SIMSTATE: %s" % str(simstate)) want = math.degrees(simstate.roll) got = math.degrees(ahrs2.roll) if abs(want - got) > 5: raise NotAchievedException("Secondary roll looks bad (want=%f got=%f)" % (want, got)) want = math.degrees(simstate.pitch) got = math.degrees(ahrs2.pitch) if abs(want - got) > 5: raise NotAchievedException("Secondary pitch looks bad (want=%f got=%f)" % (want, got)) q = quaternion.Quaternion([ attitude_quaternion.q1, attitude_quaternion.q2, attitude_quaternion.q3, attitude_quaternion.q4 ]) euler = q.euler self.progress("attquat:%s q:%s euler:%s" % ( str(attitude_quaternion), q, euler)) want = math.degrees(simstate.roll) got = math.degrees(euler[0]) if want - got > 5: raise NotAchievedException("quat roll differs from attitude roll; want=%f got=%f" % (want, got)) want = math.degrees(simstate.pitch) got = math.degrees(euler[1]) if want - got > 5: raise NotAchievedException("quat pitch differs from attitude pitch; want=%f got=%f" % (want, got)) def test_main_flight(self): self.change_mode('MANUAL') self.progress("Asserting we do support transfer of fence via mission item protocol") self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_MISSION_FENCE) # grab home position: self.mav.recv_match(type='HOME_POSITION', blocking=True) self.homeloc = self.mav.location() self.run_subtest("Takeoff", self.takeoff) self.run_subtest("Set Attitude Target", self.set_attitude_target) self.run_subtest("Fly left circuit", self.fly_left_circuit) self.run_subtest("Left roll", lambda: self.axial_left_roll(1)) self.run_subtest("Inside loop", self.inside_loop) self.run_subtest("Stablize test", self.test_stabilize) self.run_subtest("ACRO test", self.test_acro) self.run_subtest("FBWB test", self.test_FBWB) self.run_subtest("CRUISE test", lambda: self.test_FBWB(mode='CRUISE')) self.run_subtest("RTL test", self.fly_RTL) self.run_subtest("LOITER test", self.fly_LOITER) self.run_subtest("CIRCLE test", self.fly_CIRCLE) self.run_subtest("AHRS2 test", self.fly_ahrs2_test) self.run_subtest("Mission test", lambda: self.fly_mission("ap1.txt", strict=False)) def airspeed_autocal(self): self.progress("Ensure no AIRSPEED_AUTOCAL on ground") self.set_parameter("ARSPD_AUTOCAL", 1) m = self.mav.recv_match(type='AIRSPEED_AUTOCAL', blocking=True, timeout=5) if m is not None: raise NotAchievedException("Got autocal on ground") mission_filepath = "flaps.txt" num_wp = self.load_mission(mission_filepath) self.wait_ready_to_arm() self.arm_vehicle() self.change_mode("AUTO") self.progress("Ensure AIRSPEED_AUTOCAL in air") m = self.mav.recv_match(type='AIRSPEED_AUTOCAL', blocking=True, timeout=5) self.wait_waypoint(7, num_wp-1, timeout=500) self.wait_disarmed(timeout=120) def deadreckoning_main(self, disable_airspeed_sensor=False): self.wait_ready_to_arm() self.gpi = None self.simstate = None self.last_print = 0 self.max_divergence = 0 def validate_global_position_int_against_simstate(mav, m): if m.get_type() == 'GLOBAL_POSITION_INT': self.gpi = m elif m.get_type() == 'SIMSTATE': self.simstate = m if self.gpi is None: return if self.simstate is None: return divergence = self.get_distance_int(self.gpi, self.simstate) max_allowed_divergence = 200 if (time.time() - self.last_print > 1 or divergence > self.max_divergence): self.progress("position-estimate-divergence=%fm" % (divergence,)) self.last_print = time.time() if divergence > self.max_divergence: self.max_divergence = divergence if divergence > max_allowed_divergence: raise NotAchievedException( "global-position-int diverged from simstate by %fm (max=%fm" % (divergence, max_allowed_divergence,)) self.install_message_hook(validate_global_position_int_against_simstate) try: # wind is from the West: self.set_parameter("SIM_WIND_DIR", 270) # light winds: self.set_parameter("SIM_WIND_SPD", 10) if disable_airspeed_sensor: self.set_parameter("ARSPD_USE", 0) self.takeoff(50) loc = self.mav.location() self.location_offset_ne(loc, 500, 500) self.run_cmd_int( mavutil.mavlink.MAV_CMD_DO_REPOSITION, 0, mavutil.mavlink.MAV_DO_REPOSITION_FLAGS_CHANGE_MODE, 0, 0, int(loc.lat * 1e7), int(loc.lng * 1e7), 100, # alt frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, ) self.wait_location(loc, accuracy=100) self.progress("Stewing") self.delay_sim_time(20) self.set_parameter("SIM_GPS_DISABLE", 1) self.progress("Roasting") self.delay_sim_time(20) self.change_mode("RTL") self.wait_distance_to_home(100, 200, timeout=200) self.set_parameter("SIM_GPS_DISABLE", 0) self.delay_sim_time(10) self.set_rc(3, 1000) self.fly_home_land_and_disarm() self.progress("max-divergence: %fm" % (self.max_divergence,)) finally: self.remove_message_hook(validate_global_position_int_against_simstate) def deadreckoning(self): self.deadreckoning_main() def deadreckoning_no_airspeed_sensor(self): self.deadreckoning_main(disable_airspeed_sensor=True) def climb_before_turn(self): self.wait_ready_to_arm() self.set_parameter("FLIGHT_OPTIONS", 0) self.set_parameter("ALT_HOLD_RTL", 8000) takeoff_alt = 40 self.takeoff(alt=takeoff_alt) self.change_mode("CRUISE") self.wait_distance_to_home(500, 1000, timeout=60) self.change_mode("RTL") expected_alt = self.get_parameter("ALT_HOLD_RTL") / 100.0 home = self.home_position_as_mav_location() distance = self.get_distance(home, self.mav.location()) self.wait_altitude(expected_alt - 10, expected_alt + 10, relative=True) new_distance = self.get_distance(home, self.mav.location()) # We should be closer to home. if new_distance > distance: raise NotAchievedException( "Expected to be closer to home (was %fm, now %fm)." % (distance, new_distance) ) self.fly_home_land_and_disarm() self.change_mode("MANUAL") self.set_rc(3, 1000) self.wait_ready_to_arm() self.set_parameter("FLIGHT_OPTIONS", 16) self.set_parameter("ALT_HOLD_RTL", 10000) self.takeoff(alt=takeoff_alt) self.change_mode("CRUISE") self.wait_distance_to_home(500, 1000, timeout=60) self.change_mode("RTL") home = self.home_position_as_mav_location() distance = self.get_distance(home, self.mav.location()) self.wait_altitude(expected_alt - 10, expected_alt + 10, relative=True) new_distance = self.get_distance(home, self.mav.location()) # We should be farther from to home. if new_distance < distance: raise NotAchievedException( "Expected to be farther from home (was %fm, now %fm)." % (distance, new_distance) ) self.fly_home_land_and_disarm() def rtl_climb_min(self): self.wait_ready_to_arm() rtl_climb_min = 100 self.set_parameter("RTL_CLIMB_MIN", rtl_climb_min) takeoff_alt = 50 self.takeoff(alt=takeoff_alt) self.change_mode('CRUISE') self.wait_distance_to_home(1000, 1500, timeout=60) post_cruise_alt = self.get_altitude(relative=True) self.change_mode('RTL') expected_alt = self.get_parameter("ALT_HOLD_RTL")/100.0 if expected_alt == -1: expected_alt = self.get_altitude(relative=True) # ensure we're about half-way-down at the half-way-home stage: self.wait_distance_to_nav_target( 0, 500, timeout=120, ) alt = self.get_altitude(relative=True) expected_halfway_alt = expected_alt + (post_cruise_alt + rtl_climb_min - expected_alt)/2.0 if abs(alt - expected_halfway_alt) > 30: raise NotAchievedException("Not half-way-down and half-way-home (want=%f got=%f" % (expected_halfway_alt, alt)) self.progress("Half-way-down at half-way-home (want=%f vs got=%f)" % (expected_halfway_alt, alt)) rtl_radius = self.get_parameter("RTL_RADIUS") if rtl_radius == 0: rtl_radius = self.get_parameter("WP_LOITER_RAD") self.wait_distance_to_nav_target( 0, rtl_radius, timeout=120, ) alt = self.get_altitude(relative=True) if abs(alt - expected_alt) > 10: raise NotAchievedException( "Expected to have %fm altitude at end of RTL (got %f)" % (expected_alt, alt)) self.fly_home_land_and_disarm() def sample_enable_parameter(self): return "Q_ENABLE" def test_rangefinder(self): ex = None self.context_push() self.progress("Making sure we don't ordinarily get RANGEFINDER") m = None try: m = self.mav.recv_match(type='RANGEFINDER', blocking=True, timeout=5) except Exception as e: self.print_exception_caught(e) if m is not None: raise NotAchievedException("Received unexpected RANGEFINDER msg") try: self.set_analog_rangefinder_parameters() self.reboot_sitl() '''ensure rangefinder gives height-above-ground''' self.load_mission("plane-gripper-mission.txt") # borrow this self.set_current_waypoint(1) self.change_mode('AUTO') self.wait_ready_to_arm() self.arm_vehicle() self.wait_waypoint(5, 5, max_dist=100) rf = self.mav.recv_match(type="RANGEFINDER", timeout=1, blocking=True) if rf is None: raise NotAchievedException("Did not receive rangefinder message") gpi = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=1) if gpi is None: raise NotAchievedException("Did not receive GLOBAL_POSITION_INT message") if abs(rf.distance - gpi.relative_alt/1000.0) > 3: raise NotAchievedException( "rangefinder alt (%s) disagrees with global-position-int.relative_alt (%s)" % (rf.distance, gpi.relative_alt/1000.0)) self.wait_statustext("Auto disarmed", timeout=60) self.progress("Ensure RFND messages in log") if not self.current_onboard_log_contains_message("RFND"): raise NotAchievedException("No RFND messages in log") except Exception as e: self.print_exception_caught(e) ex = e self.context_pop() self.reboot_sitl() if ex is not None: raise ex def rc_defaults(self): ret = super(AutoTestPlane, self).rc_defaults() ret[3] = 1000 ret[8] = 1800 return ret def initial_mode_switch_mode(self): return "MANUAL" def default_mode(self): return "MANUAL" def test_pid_tuning(self): self.change_mode("FBWA") # we don't update PIDs in MANUAL super(AutoTestPlane, self).test_pid_tuning() def test_setting_modes_via_auxswitches(self): self.set_parameter("FLTMODE1", 1) # circle self.set_rc(8, 950) self.wait_mode("CIRCLE") self.set_rc(9, 1000) self.set_rc(10, 1000) self.set_parameter("RC9_OPTION", 4) # RTL self.set_parameter("RC10_OPTION", 55) # guided self.set_rc(9, 1900) self.wait_mode("RTL") self.set_rc(10, 1900) self.wait_mode("GUIDED") self.progress("resetting both switches - should go back to CIRCLE") self.set_rc(9, 1000) self.set_rc(10, 1000) self.wait_mode("CIRCLE") self.set_rc(9, 1900) self.wait_mode("RTL") self.set_rc(10, 1900) self.wait_mode("GUIDED") self.progress("Resetting switch should repoll mode switch") self.set_rc(10, 1000) # this re-polls the mode switch self.wait_mode("CIRCLE") self.set_rc(9, 1000) def wait_for_collision_threat_to_clear(self): '''wait to get a "clear" collision message", then slurp remaining messages''' last_collision = self.get_sim_time() while True: now = self.get_sim_time() if now - last_collision > 5: return self.progress("Waiting for collision message") m = self.mav.recv_match(type='COLLISION', blocking=True, timeout=1) self.progress("Got (%s)" % str(m)) if m is None: continue last_collision = now def test_adsb_send_threatening_adsb_message(self, here): self.progress("Sending ABSD_VEHICLE message") self.mav.mav.adsb_vehicle_send( 37, # ICAO address int(here.lat * 1e7), int(here.lng * 1e7), mavutil.mavlink.ADSB_ALTITUDE_TYPE_PRESSURE_QNH, int(here.alt*1000 + 10000), # 10m up 0, # heading in cdeg 0, # horizontal velocity cm/s 0, # vertical velocity cm/s "bob".encode("ascii"), # callsign mavutil.mavlink.ADSB_EMITTER_TYPE_LIGHT, 1, # time since last communication 65535, # flags 17 # squawk ) def test_adsb(self): self.context_push() ex = None try: # message ADSB_VEHICLE 37 -353632614 1491652305 0 584070 0 0 0 "bob" 3 1 255 17 self.set_parameter("RC12_OPTION", 38) # avoid-adsb self.set_rc(12, 2000) self.set_parameter("ADSB_TYPE", 1) self.set_parameter("AVD_ENABLE", 1) self.set_parameter("AVD_F_ACTION", mavutil.mavlink.MAV_COLLISION_ACTION_RTL) self.reboot_sitl() self.wait_ready_to_arm() here = self.mav.location() self.change_mode("FBWA") self.delay_sim_time(2) # TODO: work out why this is required... self.test_adsb_send_threatening_adsb_message(here) self.progress("Waiting for collision message") m = self.mav.recv_match(type='COLLISION', blocking=True, timeout=4) if m is None: raise NotAchievedException("Did not get collision message") if m.threat_level != 2: raise NotAchievedException("Expected some threat at least") if m.action != mavutil.mavlink.MAV_COLLISION_ACTION_RTL: raise NotAchievedException("Incorrect action; want=%u got=%u" % (mavutil.mavlink.MAV_COLLISION_ACTION_RTL, m.action)) self.wait_mode("RTL") self.progress("Sending far-away ABSD_VEHICLE message") self.mav.mav.adsb_vehicle_send( 37, # ICAO address int(here.lat+1 * 1e7), int(here.lng * 1e7), mavutil.mavlink.ADSB_ALTITUDE_TYPE_PRESSURE_QNH, int(here.alt*1000 + 10000), # 10m up 0, # heading in cdeg 0, # horizontal velocity cm/s 0, # vertical velocity cm/s "bob".encode("ascii"), # callsign mavutil.mavlink.ADSB_EMITTER_TYPE_LIGHT, 1, # time since last communication 65535, # flags 17 # squawk ) self.wait_for_collision_threat_to_clear() self.change_mode("FBWA") self.progress("Disabling ADSB-avoidance with RC channel") self.set_rc(12, 1000) self.delay_sim_time(1) # let the switch get polled self.test_adsb_send_threatening_adsb_message(here) m = self.mav.recv_match(type='COLLISION', blocking=True, timeout=4) self.progress("Got (%s)" % str(m)) if m is not None: raise NotAchievedException("Got collision message when I shouldn't have") except Exception as e: self.print_exception_caught(e) ex = e self.context_pop() self.reboot_sitl() if ex is not None: raise ex def fly_do_guided_request(self, target_system=1, target_component=1): self.progress("Takeoff") self.takeoff(alt=50) self.set_rc(3, 1500) self.start_subtest("Ensure command bounced outside guided mode") desired_relative_alt = 33 loc = self.mav.location() self.location_offset_ne(loc, 300, 300) loc.alt += desired_relative_alt self.mav.mav.mission_item_int_send( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2, # current - guided-mode request 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(loc.lat * 1e7), # latitude int(loc.lng * 1e7), # longitude loc.alt, # altitude mavutil.mavlink.MAV_MISSION_TYPE_MISSION) m = self.mav.recv_match(type='MISSION_ACK', blocking=True, timeout=5) if m is None: raise NotAchievedException("Did not get MISSION_ACK") if m.type != mavutil.mavlink.MAV_MISSION_ERROR: raise NotAchievedException("Did not get appropriate error") self.start_subtest("Enter guided and flying somewhere constant") self.change_mode("GUIDED") self.mav.mav.mission_item_int_send( target_system, target_component, 0, # seq mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT, mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2, # current - guided-mode request 0, # autocontinue 0, # p1 0, # p2 0, # p3 0, # p4 int(loc.lat * 1e7), # latitude int(loc.lng * 1e7), # longitude desired_relative_alt, # altitude mavutil.mavlink.MAV_MISSION_TYPE_MISSION) m = self.mav.recv_match(type='MISSION_ACK', blocking=True, timeout=5) if m is None: raise NotAchievedException("Did not get MISSION_ACK") if m.type != mavutil.mavlink.MAV_MISSION_ACCEPTED: raise NotAchievedException("Did not get accepted response") self.wait_location(loc, accuracy=100) # based on loiter radius self.delay_sim_time(20) self.wait_altitude(altitude_min=desired_relative_alt-3, altitude_max=desired_relative_alt+3, relative=True) self.fly_home_land_and_disarm() def LOITER(self): self.takeoff(alt=200) self.set_rc(3, 1500) self.change_mode("LOITER") self.progress("Doing a bit of loitering to start with") tstart = self.get_sim_time() while True: now = self.get_sim_time_cached() if now - tstart > 60: break m = self.mav.recv_match(type='VFR_HUD', blocking=True, timeout=5) if m is None: raise NotAchievedException("Did not get VFR_HUD") new_throttle = m.throttle alt = m.alt m = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=5) if m is None: raise NotAchievedException("Did not get ATTITUDE") pitch = math.degrees(m.pitch) self.progress("Pitch:%f throttle:%u alt:%f" % (pitch, new_throttle, alt)) m = self.mav.recv_match(type='VFR_HUD', blocking=True, timeout=5) if m is None: raise NotAchievedException("Did not get VFR_HUD") initial_throttle = m.throttle initial_alt = m.alt self.progress("Initial throttle: %u" % initial_throttle) # pitch down, ensure throttle decreases: rc2_max = self.get_parameter("RC2_MAX") self.set_rc(2, int(rc2_max)) tstart = self.get_sim_time() while True: now = self.get_sim_time_cached() '''stick-mixing is pushing the aircraft down. It doesn't want to go down (the target loiter altitude hasn't changed), so it tries to add energy by increasing the throttle. ''' if now - tstart > 60: raise NotAchievedException("Did not see increase in throttle") m = self.mav.recv_match(type='VFR_HUD', blocking=True, timeout=5) if m is None: raise NotAchievedException("Did not get VFR_HUD") new_throttle = m.throttle alt = m.alt m = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=5) if m is None: raise NotAchievedException("Did not get ATTITUDE") pitch = math.degrees(m.pitch) self.progress("Pitch:%f throttle:%u alt:%f" % (pitch, new_throttle, alt)) if new_throttle - initial_throttle > 20: self.progress("Throttle delta achieved") break self.progress("Centering elevator and ensuring we get back to loiter altitude") self.set_rc(2, 1500) self.wait_altitude(initial_alt-1, initial_alt+1) self.fly_home_land_and_disarm() def CPUFailsafe(self): '''In lockup Plane should copy RC inputs to RC outputs''' self.plane_CPUFailsafe() def test_large_missions(self): self.load_mission("Kingaroy-vlarge.txt", strict=False) self.load_mission("Kingaroy-vlarge2.txt", strict=False) def fly_soaring(self): model = "plane-soaring" self.customise_SITL_commandline( [], model=model, defaults_filepath=self.model_defaults_filepath("ArduPlane", model), wipe=True) self.load_mission('CMAC-soar.txt', strict=False) self.set_current_waypoint(1) self.change_mode('AUTO') self.wait_ready_to_arm() self.arm_vehicle() # Enable thermalling RC rc_chan = 0 for i in range(8): rcx_option = self.get_parameter('RC{0}_OPTION'.format(i+1)) if rcx_option == 88: rc_chan = i+1 break if rc_chan == 0: raise NotAchievedException("Did not find soaring enable channel option.") self.set_rc_from_map({ rc_chan: 1900, 3: 1500, # Use trim airspeed. }) # Wait to detect thermal self.progress("Waiting for thermal") self.wait_mode('THERMAL', timeout=600) # Wait to climb to SOAR_ALT_MAX self.progress("Waiting for climb to max altitude") alt_max = self.get_parameter('SOAR_ALT_MAX') self.wait_altitude(alt_max-10, alt_max, timeout=600, relative=True) # Wait for AUTO self.progress("Waiting for AUTO mode") self.wait_mode('AUTO') # Disable thermals self.set_parameter("SIM_THML_SCENARI", 0) # Wait to descend to SOAR_ALT_MIN self.progress("Waiting for glide to min altitude") alt_min = self.get_parameter('SOAR_ALT_MIN') self.wait_altitude(alt_min-10, alt_min, timeout=600, relative=True) self.progress("Waiting for throttle up") self.wait_servo_channel_value(3, 1200, timeout=2, comparator=operator.gt) self.progress("Waiting for climb to cutoff altitude") alt_ctf = self.get_parameter('SOAR_ALT_CUTOFF') self.wait_altitude(alt_ctf-10, alt_ctf, timeout=600, relative=True) # Allow time to suppress throttle and start descent. self.delay_sim_time(20) # Now set FBWB mode self.change_mode('FBWB') self.delay_sim_time(5) # Now disable soaring (should hold altitude) self.set_parameter("SOAR_ENABLE", 0) self.delay_sim_time(10) # And reenable. This should force throttle-down self.set_parameter("SOAR_ENABLE", 1) self.delay_sim_time(10) # Now wait for descent and check throttle up self.wait_altitude(alt_min-10, alt_min, timeout=600, relative=True) self.progress("Waiting for climb") self.wait_altitude(alt_ctf-10, alt_ctf, timeout=600, relative=True) # Back to auto self.change_mode('AUTO') # Reenable thermals self.set_parameter("SIM_THML_SCENARI", 1) # Disable soaring using RC channel. self.set_rc(rc_chan, 1100) # Wait to get back to waypoint before thermal. self.progress("Waiting to get back to position") self.wait_current_waypoint(3, timeout=1200) # Enable soaring with mode changes suppressed) self.set_rc(rc_chan, 1500) # Make sure this causes throttle down. self.wait_servo_channel_value(3, 1200, timeout=2, comparator=operator.lt) self.progress("Waiting for next WP with no thermalling") self.wait_waypoint(4, 4, timeout=1200, max_dist=120) # Disarm self.disarm_vehicle() self.progress("Mission OK") def test_airspeed_drivers(self): self.set_parameter("ARSPD_BUS", 2) self.set_parameter("ARSPD_TYPE", 7) # DLVR self.reboot_sitl() self.wait_ready_to_arm() self.arm_vehicle() self.fly_mission("ap1.txt", strict=False) def fly_terrain_mission(self): self.wait_ready_to_arm() self.arm_vehicle() self.fly_mission("ap-terrain.txt", mission_timeout=600) def fly_external_AHRS(self): """Fly with external AHRS (VectorNav)""" self.customise_SITL_commandline(["--uartE=sim:VectorNav"]) self.set_parameter("EAHRS_TYPE", 1) self.set_parameter("SERIAL4_PROTOCOL", 36) self.set_parameter("SERIAL4_BAUD", 230400) self.set_parameter("GPS_TYPE", 21) self.set_parameter("AHRS_EKF_TYPE", 11) self.set_parameter("INS_GYR_CAL", 1) self.reboot_sitl() self.progress("Running accelcal") self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 4, 0, 0, timeout=5) self.wait_ready_to_arm() self.arm_vehicle() self.fly_mission("ap1.txt") def get_accelvec(self, m): return Vector3(m.xacc, m.yacc, m.zacc) * 0.001 * 9.81 def get_gyrovec(self, m): return Vector3(m.xgyro, m.ygyro, m.zgyro) * 0.001 * math.degrees(1) def test_imu_tempcal(self): self.progress("Setting up SITL temperature profile") self.set_parameters({ "SIM_IMUT1_ENABLE" : 1, "SIM_IMUT1_ACC1_X" : 120000.000000, "SIM_IMUT1_ACC1_Y" : -190000.000000, "SIM_IMUT1_ACC1_Z" : 1493.864746, "SIM_IMUT1_ACC2_X" : -51.624416, "SIM_IMUT1_ACC2_Y" : 10.364172, "SIM_IMUT1_ACC2_Z" : -7878.000000, "SIM_IMUT1_ACC3_X" : -0.514242, "SIM_IMUT1_ACC3_Y" : 0.862218, "SIM_IMUT1_ACC3_Z" : -234.000000, "SIM_IMUT1_GYR1_X" : -5122.513817, "SIM_IMUT1_GYR1_Y" : -3250.470428, "SIM_IMUT1_GYR1_Z" : -2136.346676, "SIM_IMUT1_GYR2_X" : 30.720505, "SIM_IMUT1_GYR2_Y" : 17.778447, "SIM_IMUT1_GYR2_Z" : 0.765997, "SIM_IMUT1_GYR3_X" : -0.003572, "SIM_IMUT1_GYR3_Y" : 0.036346, "SIM_IMUT1_GYR3_Z" : 0.015457, "SIM_IMUT1_TMAX" : 70.0, "SIM_IMUT1_TMIN" : -20.000000, "SIM_IMUT2_ENABLE" : 1, "SIM_IMUT2_ACC1_X" : -160000.000000, "SIM_IMUT2_ACC1_Y" : 198730.000000, "SIM_IMUT2_ACC1_Z" : 27812.000000, "SIM_IMUT2_ACC2_X" : 30.658159, "SIM_IMUT2_ACC2_Y" : 32.085022, "SIM_IMUT2_ACC2_Z" : 1572.000000, "SIM_IMUT2_ACC3_X" : 0.102912, "SIM_IMUT2_ACC3_Y" : 0.229734, "SIM_IMUT2_ACC3_Z" : 172.000000, "SIM_IMUT2_GYR1_X" : 3173.925644, "SIM_IMUT2_GYR1_Y" : -2368.312836, "SIM_IMUT2_GYR1_Z" : -1796.497177, "SIM_IMUT2_GYR2_X" : 13.029696, "SIM_IMUT2_GYR2_Y" : -10.349280, "SIM_IMUT2_GYR2_Z" : -15.082653, "SIM_IMUT2_GYR3_X" : 0.004831, "SIM_IMUT2_GYR3_Y" : -0.020528, "SIM_IMUT2_GYR3_Z" : 0.009469, "SIM_IMUT2_TMAX" : 70.000000, "SIM_IMUT2_TMIN" : -20.000000, "SIM_IMUT_END" : 45.000000, "SIM_IMUT_START" : 3.000000, "SIM_IMUT_TCONST" : 75.000000, "SIM_DRIFT_SPEED" : 0, "INS_GYR_CAL" : 0, }) self.set_parameter("SIM_IMUT_FIXED", 12) self.progress("Running accel cal") self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 4, 0, 0, timeout=5) self.progress("Running gyro cal") self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 1, 0, 0, timeout=5) self.set_parameters({ "SIM_IMUT_FIXED": 0, "INS_TCAL1_ENABLE": 2, "INS_TCAL1_TMAX": 42, "INS_TCAL2_ENABLE": 2, "INS_TCAL2_TMAX": 42, "SIM_SPEEDUP": 200, }) self.set_parameter("LOG_DISARMED", 1) self.reboot_sitl() self.progress("Waiting for IMU temperature") self.assert_reach_imu_temperature(43, timeout=600) if self.get_parameter("INS_TCAL1_ENABLE") != 1.0: raise NotAchievedException("TCAL1 did not complete") if self.get_parameter("INS_TCAL2_ENABLE") != 1.0: raise NotAchievedException("TCAL2 did not complete") self.progress("Logging with calibration enabled") self.reboot_sitl() self.assert_reach_imu_temperature(43, timeout=600) self.progress("Testing with compensation enabled") test_temperatures = range(10, 45, 5) corrected = {} uncorrected = {} for temp in test_temperatures: self.progress("Testing temperature %.1f" % temp) self.set_parameter("SIM_IMUT_FIXED", temp) self.delay_sim_time(2) for msg in ['RAW_IMU', 'SCALED_IMU2']: m = self.mav.recv_match(type=msg, blocking=True, timeout=2) if m is None: raise NotAchievedException(msg) temperature = m.temperature*0.01 if abs(temperature - temp) > 0.2: raise NotAchievedException("incorrect %s temperature %.1f should be %.1f" % (msg, temperature, temp)) accel = self.get_accelvec(m) gyro = self.get_gyrovec(m) accel2 = accel + Vector3(0, 0, 9.81) corrected[temperature] = (accel2, gyro) self.progress("Testing with compensation disabled") self.set_parameter("INS_TCAL1_ENABLE", 0) self.set_parameter("INS_TCAL2_ENABLE", 0) gyro_threshold = 0.2 accel_threshold = 0.2 for temp in test_temperatures: self.progress("Testing temperature %.1f" % temp) self.set_parameter("SIM_IMUT_FIXED", temp) self.wait_heartbeat() self.wait_heartbeat() for msg in ['RAW_IMU', 'SCALED_IMU2']: m = self.mav.recv_match(type=msg, blocking=True, timeout=2) if m is None: raise NotAchievedException(msg) temperature = m.temperature*0.01 if abs(temperature - temp) > 0.2: raise NotAchievedException("incorrect %s temperature %.1f should be %.1f" % (msg, temperature, temp)) accel = self.get_accelvec(m) gyro = self.get_gyrovec(m) accel2 = accel + Vector3(0, 0, 9.81) uncorrected[temperature] = (accel2, gyro) for temp in test_temperatures: (accel, gyro) = corrected[temp] self.progress("Corrected gyro at %.1f %s" % (temp, gyro)) self.progress("Corrected accel at %.1f %s" % (temp, accel)) for temp in test_temperatures: (accel, gyro) = uncorrected[temp] self.progress("Uncorrected gyro at %.1f %s" % (temp, gyro)) self.progress("Uncorrected accel at %.1f %s" % (temp, accel)) bad_value = False for temp in test_temperatures: (accel, gyro) = corrected[temp] if gyro.length() > gyro_threshold: raise NotAchievedException("incorrect corrected at %.1f gyro %s" % (temp, gyro)) if accel.length() > accel_threshold: raise NotAchievedException("incorrect corrected at %.1f accel %s" % (temp, accel)) (accel, gyro) = uncorrected[temp] if gyro.length() > gyro_threshold*2: bad_value = True if accel.length() > accel_threshold*2: bad_value = True if not bad_value: raise NotAchievedException("uncompensated IMUs did not vary enough") def ekf_lane_switch(self): self.context_push() ex = None # new lane swtich available only with EK3 self.set_parameters({ "EK3_ENABLE": 1, "EK2_ENABLE": 0, "AHRS_EKF_TYPE": 3, "EK3_AFFINITY": 15, # enable affinity for all sensors "EK3_IMU_MASK": 3, # use only 2 IMUs "GPS_TYPE2": 1, "SIM_GPS2_DISABLE": 0, "SIM_BARO_COUNT": 2, "SIM_BAR2_DISABLE": 0, "ARSPD2_TYPE": 2, "ARSPD2_USE": 1, "ARSPD2_PIN": 2, }) # some parameters need reboot to take effect self.reboot_sitl() self.lane_switches = [] # add an EKF lane switch hook def statustext_hook(mav, message): if message.get_type() != 'STATUSTEXT': return # example msg: EKF3 lane switch 1 if not message.text.startswith("EKF3 lane switch "): return newlane = int(message.text[-1]) self.lane_switches.append(newlane) self.install_message_hook(statustext_hook) # get flying self.takeoff(alt=50) self.change_mode('CIRCLE') try: ################################################################### self.progress("Checking EKF3 Lane Switching trigger from all sensors") ################################################################### self.start_subtest("ACCELEROMETER: Change z-axis offset") # create an accelerometer error by changing the Z-axis offset self.context_collect("STATUSTEXT") old_parameter = self.get_parameter("INS_ACCOFFS_Z") self.wait_statustext( text="EKF3 lane switch", timeout=30, the_function=self.set_parameter("INS_ACCOFFS_Z", old_parameter + 5), check_context=True) if self.lane_switches != [1]: raise NotAchievedException("Expected lane switch 1, got %s" % str(self.lane_switches[-1])) # Cleanup self.set_parameter("INS_ACCOFFS_Z", old_parameter) self.context_clear_collection("STATUSTEXT") self.wait_heading(0, accuracy=10, timeout=60) self.wait_heading(180, accuracy=10, timeout=60) ################################################################### self.start_subtest("BAROMETER: Freeze to last measured value") self.context_collect("STATUSTEXT") # create a barometer error by inhibiting any pressure change while changing altitude old_parameter = self.get_parameter("SIM_BAR2_FREEZE") self.set_parameter("SIM_BAR2_FREEZE", 1) self.wait_statustext( text="EKF3 lane switch", timeout=30, the_function=lambda: self.set_rc(2, 2000), check_context=True) if self.lane_switches != [1, 0]: raise NotAchievedException("Expected lane switch 0, got %s" % str(self.lane_switches[-1])) # Cleanup self.set_rc(2, 1500) self.set_parameter("SIM_BAR2_FREEZE", old_parameter) self.context_clear_collection("STATUSTEXT") self.wait_heading(0, accuracy=10, timeout=60) self.wait_heading(180, accuracy=10, timeout=60) ################################################################### self.start_subtest("GPS: Apply GPS Velocity Error in NED") self.context_push() self.context_collect("STATUSTEXT") # create a GPS velocity error by adding a random 2m/s # noise on each axis def sim_gps_verr(): self.set_parameters({ "SIM_GPS_VERR_X": self.get_parameter("SIM_GPS_VERR_X") + 2, "SIM_GPS_VERR_Y": self.get_parameter("SIM_GPS_VERR_Y") + 2, "SIM_GPS_VERR_Z": self.get_parameter("SIM_GPS_VERR_Z") + 2, }) self.wait_statustext(text="EKF3 lane switch", timeout=30, the_function=sim_gps_verr, check_context=True) if self.lane_switches != [1, 0, 1]: raise NotAchievedException("Expected lane switch 1, got %s" % str(self.lane_switches[-1])) # Cleanup self.context_pop() self.context_clear_collection("STATUSTEXT") self.wait_heading(0, accuracy=10, timeout=60) self.wait_heading(180, accuracy=10, timeout=60) ################################################################### self.start_subtest("MAGNETOMETER: Change X-Axis Offset") self.context_collect("STATUSTEXT") # create a magnetometer error by changing the X-axis offset old_parameter = self.get_parameter("SIM_MAG2_OFS_X") self.wait_statustext( text="EKF3 lane switch", timeout=30, the_function=self.set_parameter("SIM_MAG2_OFS_X", old_parameter + 150), check_context=True) if self.lane_switches != [1, 0, 1, 0]: raise NotAchievedException("Expected lane switch 0, got %s" % str(self.lane_switches[-1])) # Cleanup self.set_parameter("SIM_MAG2_OFS_X", old_parameter) self.context_clear_collection("STATUSTEXT") self.wait_heading(0, accuracy=10, timeout=60) self.wait_heading(180, accuracy=10, timeout=60) ################################################################### self.start_subtest("AIRSPEED: Fail to constant value") self.context_push() self.context_collect("STATUSTEXT") # create an airspeed sensor error by freezing to the # current airspeed then changing the groundspeed old_parameter = self.get_parameter("SIM_ARSPD_FAIL") m = self.mav.recv_match(type='VFR_HUD', blocking=True) self.set_parameter("SIM_ARSPD_FAIL", m.airspeed) def change_speed(): self.change_mode("GUIDED") self.run_cmd_int( mavutil.mavlink.MAV_CMD_DO_REPOSITION, 0, 0, 0, 0, 12345, # lat* 1e7 12345, # lon* 1e7 50 # alt ) self.delay_sim_time(5) new_target_groundspeed = m.groundspeed + 10 self.run_cmd( mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, 1, # groundspeed new_target_groundspeed, -1, # throttle / no change 0, # absolute values 0, 0, 0 ) self.wait_statustext(text="EKF3 lane switch", timeout=30, the_function=change_speed, check_context=True) if self.lane_switches != [1, 0, 1, 0, 1]: raise NotAchievedException("Expected lane switch 1, got %s" % str(self.lane_switches[-1])) # Cleanup self.change_mode('CIRCLE') self.context_pop() self.context_clear_collection("STATUSTEXT") self.wait_heading(0, accuracy=10, timeout=60) self.wait_heading(180, accuracy=10, timeout=60) ################################################################### self.progress("GYROSCOPE: Change Y-Axis Offset") self.context_collect("STATUSTEXT") # create a gyroscope error by changing the Y-axis offset old_parameter = self.get_parameter("INS_GYR2OFFS_Y") self.wait_statustext( text="EKF3 lane switch", timeout=30, the_function=self.set_parameter("INS_GYR2OFFS_Y", old_parameter + 1), check_context=True) if self.lane_switches != [1, 0, 1, 0, 1, 0]: raise NotAchievedException("Expected lane switch 0, got %s" % str(self.lane_switches[-1])) # Cleanup self.set_parameter("INS_GYR2OFFS_Y", old_parameter) self.context_clear_collection("STATUSTEXT") ################################################################### self.disarm_vehicle() except Exception as e: self.print_exception_caught(e) ex = e self.remove_message_hook(statustext_hook) self.context_pop() if ex is not None: raise ex def test_fence_alt_ceil_floor(self): fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE self.set_parameter("FENCE_TYPE", 9) # Set fence type to max and min alt self.set_parameter("FENCE_ACTION", 0) # Set action to report self.set_parameter("FENCE_ALT_MAX", 200) self.set_parameter("FENCE_ALT_MIN", 100) # Grab Home Position self.mav.recv_match(type='HOME_POSITION', blocking=True) self.homeloc = self.mav.location() cruise_alt = 150 self.takeoff(cruise_alt) self.do_fence_enable() self.progress("Fly above ceiling and check for breach") self.change_altitude(self.homeloc.alt + cruise_alt + 80) m = self.mav.recv_match(type='SYS_STATUS', blocking=True) self.progress("Got (%s)" % str(m)) if ((m.onboard_control_sensors_health & fence_bit)): raise NotAchievedException("Fence Ceiling did not breach") self.progress("Return to cruise alt and check for breach clear") self.change_altitude(self.homeloc.alt + cruise_alt) m = self.mav.recv_match(type='SYS_STATUS', blocking=True) self.progress("Got (%s)" % str(m)) if (not (m.onboard_control_sensors_health & fence_bit)): raise NotAchievedException("Fence breach did not clear") self.progress("Fly below floor and check for breach") self.change_altitude(self.homeloc.alt + cruise_alt - 80) m = self.mav.recv_match(type='SYS_STATUS', blocking=True) self.progress("Got (%s)" % str(m)) if ((m.onboard_control_sensors_health & fence_bit)): raise NotAchievedException("Fence Floor did not breach") self.do_fence_disable() self.fly_home_land_and_disarm(timeout=150) def test_fence_breached_change_mode(self): """ Attempts to change mode while a fence is breached. This should revert to the mode specified by the fence action. """ self.set_parameter("FENCE_ACTION", 1) self.set_parameter("FENCE_TYPE", 4) home_loc = self.mav.location() locs = [ mavutil.location(home_loc.lat - 0.001, home_loc.lng - 0.001, 0, 0), mavutil.location(home_loc.lat - 0.001, home_loc.lng + 0.001, 0, 0), mavutil.location(home_loc.lat + 0.001, home_loc.lng + 0.001, 0, 0), mavutil.location(home_loc.lat + 0.001, home_loc.lng - 0.001, 0, 0), ] self.upload_fences_from_locations( mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, [ locs ] ) self.delay_sim_time(1) self.wait_ready_to_arm() self.takeoff(alt=50) self.change_mode("CRUISE") self.wait_distance(90, accuracy=15) self.progress("Enable fence and initiate fence action") self.do_fence_enable() self.assert_fence_enabled() self.wait_mode("RTL") # We should RTL because of fence breach self.progress("User mode change to cruise should retrigger fence action") self.change_mode("CRUISE") self.wait_mode("RTL", timeout=5) self.progress("Test complete, disable fence and come home") self.do_fence_disable() self.fly_home_land_and_disarm() def test_fence_breach_no_return_point(self): """ Attempts to change mode while a fence is breached. This should revert to the mode specified by the fence action. """ want_radius = 100 # Fence Return Radius self.set_parameter("FENCE_ACTION", 6) self.set_parameter("FENCE_TYPE", 4) self.set_parameter("RTL_RADIUS", want_radius) self.set_parameter("NAVL1_LIM_BANK", 60) home_loc = self.mav.location() locs = [ mavutil.location(home_loc.lat - 0.003, home_loc.lng - 0.001, 0, 0), mavutil.location(home_loc.lat - 0.003, home_loc.lng + 0.003, 0, 0), mavutil.location(home_loc.lat + 0.001, home_loc.lng + 0.003, 0, 0), mavutil.location(home_loc.lat + 0.001, home_loc.lng - 0.001, 0, 0), ] self.upload_fences_from_locations( mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, [ locs ] ) self.delay_sim_time(1) self.wait_ready_to_arm() self.takeoff(alt=50) self.change_mode("CRUISE") self.wait_distance(150, accuracy=20) self.progress("Enable fence and initiate fence action") self.do_fence_enable() self.assert_fence_enabled() self.wait_mode("GUIDED") # We should RTL because of fence breach self.delay_sim_time(30) items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE) if len(items) != 4: raise NotAchievedException("Unexpected fencepoint count (want=%u got=%u)" % (4, len(items))) # Check there are no fence return points specified still for fence_loc in items: if fence_loc.command == mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT: raise NotAchievedException( "Unexpected fence return point found (%u) got %u" % (fence_loc.command, mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT)) # Work out the approximate return point when no fence return point present # Logic taken from AC_PolyFence_loader.cpp min_loc = self.mav.location() max_loc = self.mav.location() for new_loc in locs: if new_loc.lat < min_loc.lat: min_loc.lat = new_loc.lat if new_loc.lng < min_loc.lng: min_loc.lng = new_loc.lng if new_loc.lat > max_loc.lat: max_loc.lat = new_loc.lat if new_loc.lng > max_loc.lng: max_loc.lng = new_loc.lng # Generate the return location based on min and max locs ret_lat = (min_loc.lat + max_loc.lat) / 2 ret_lng = (min_loc.lng + max_loc.lng) / 2 ret_loc = mavutil.location(ret_lat, ret_lng, 0, 0) self.progress("Return loc: (%s)" % str(ret_loc)) # Wait for guided return to vehicle calculated fence return location self.wait_distance_to_location(ret_loc, 90, 110) self.wait_circling_point_with_radius(ret_loc, 92) self.progress("Test complete, disable fence and come home") self.do_fence_disable() self.fly_home_land_and_disarm() def test_fence_disable_under_breach_action(self): """ Fence breach will cause the vehicle to enter guided mode. Upon breach clear, check the vehicle is in the expected mode""" self.set_parameter("FENCE_ALT_MIN", 50) # Sets the fence floor self.set_parameter("FENCE_TYPE", 8) # Only use fence floor for breaches self.wait_ready_to_arm() def attempt_fence_breached_disable(start_mode, end_mode, expected_mode, action): self.set_parameter("FENCE_ACTION", action) # Set Fence Action to Guided self.change_mode(start_mode) self.arm_vehicle() self.do_fence_enable() self.assert_fence_enabled() self.wait_mode(expected_mode) self.do_fence_disable() self.assert_fence_disabled() self.wait_mode(end_mode) self.disarm_vehicle(force=True) attempt_fence_breached_disable(start_mode="FBWA", end_mode="RTL", expected_mode="RTL", action=1) attempt_fence_breached_disable(start_mode="FBWA", end_mode="FBWA", expected_mode="GUIDED", action=6) attempt_fence_breached_disable(start_mode="FBWA", end_mode="FBWA", expected_mode="GUIDED", action=7) def tests(self): '''return list of all tests''' ret = super(AutoTestPlane, self).tests() ret.extend([ ("AuxModeSwitch", "Set modes via auxswitches", self.test_setting_modes_via_auxswitches), ("TestRCCamera", "Test RC Option - Camera Trigger", self.test_rc_option_camera_trigger), ("TestRCRelay", "Test Relay RC Channel Option", self.test_rc_relay), ("ThrottleFailsafe", "Fly throttle failsafe", self.test_throttle_failsafe), ("NeedEKFToArm", "Ensure we need EKF to be healthy to arm", self.test_need_ekf_to_arm), ("ThrottleFailsafeFence", "Fly fence survives throttle failsafe", self.test_throttle_failsafe_fence), ("TestFlaps", "Flaps", self.fly_flaps), ("DO_CHANGE_SPEED", "Test mavlink DO_CHANGE_SPEED command", self.fly_do_change_speed), ("DO_REPOSITION", "Test mavlink DO_REPOSITION command", self.fly_do_reposition), ("GuidedRequest", "Test handling of MISSION_ITEM in guided mode", self.fly_do_guided_request), ("MainFlight", "Lots of things in one flight", self.test_main_flight), ("TestGripperMission", "Test Gripper mission items", self.test_gripper_mission), ("Parachute", "Test Parachute", self.test_parachute), ("ParachuteSinkRate", "Test Parachute (SinkRate triggering)", self.test_parachute_sinkrate), ("AIRSPEED_AUTOCAL", "Test AIRSPEED_AUTOCAL", self.airspeed_autocal), ("RangeFinder", "Test RangeFinder Basic Functionality", self.test_rangefinder), ("FenceStatic", "Test Basic Fence Functionality", self.test_fence_static), ("FenceRTL", "Test Fence RTL", self.test_fence_rtl), ("FenceRTLRally", "Test Fence RTL Rally", self.test_fence_rtl_rally), ("FenceRetRally", "Test Fence Ret_Rally", self.test_fence_ret_rally), ("FenceAltCeilFloor", "Tests the fence ceiling and floor", self.test_fence_alt_ceil_floor), ("FenceBreachedChangeMode", "Tests retrigger of fence action when changing of mode while fence is breached", self.test_fence_breached_change_mode), ("FenceNoFenceReturnPoint", "Tests calculated return point during fence breach when no fence return point present", self.test_fence_breach_no_return_point), ("FenceDisableUnderAction", "Tests Disabling fence while undergoing action caused by breach", self.test_fence_disable_under_breach_action), ("ADSB", "Test ADSB", self.test_adsb), ("Button", "Test Buttons", self.test_button), ("FRSkySPort", "Test FrSky SPort mode", self.test_frsky_sport), ("FRSkyPassThrough", "Test FrSky PassThrough serial output", self.test_frsky_passthrough), ("FRSkyMAVlite", "Test FrSky MAVlite serial output", self.test_frsky_mavlite), ("FRSkyD", "Test FrSkyD serial output", self.test_frsky_d), ("LTM", "Test LTM serial output", self.test_ltm), ("AdvancedFailsafe", "Test Advanced Failsafe", self.test_advanced_failsafe), ("LOITER", "Test Loiter mode", self.LOITER), ("DeepStall", "Test DeepStall Landing", self.fly_deepstall), ("LargeMissions", "Test Manipulation of Large missions", self.test_large_missions), ("Soaring", "Test Soaring feature", self.fly_soaring), ("Terrain", "Test terrain following in mission", self.fly_terrain_mission), ("ExternalAHRS", "Test external AHRS support", self.fly_external_AHRS), ("Deadreckoning", "Test deadreckoning support", self.deadreckoning), ("DeadreckoningNoAirSpeed", "Test deadreckoning support with no airspeed sensor", self.deadreckoning_no_airspeed_sensor), ("EKFlaneswitch", "Test EKF3 Affinity and Lane Switching", self.ekf_lane_switch), ("AirspeedDrivers", "Test AirSpeed drivers", self.test_airspeed_drivers), ("RTL_CLIMB_MIN", "Test RTL_CLIMB_MIN", self.rtl_climb_min), ("ClimbBeforeTurn", "Test climb-before-turn", self.climb_before_turn), ("IMUTempCal", "Test IMU temperature calibration", self.test_imu_tempcal), ("LogUpload", "Log upload", self.log_upload), ]) return ret def disabled_tests(self): return { }