#!/usr/bin/env python
# Fly ArduPlane in SITL
from __future__ import print_function
import math
import os
import pexpect
from pymavlink import quaternion
from pymavlink import mavutil
from pysim import util
from common import AutoTest
from common import AutoTestTimeoutException
from common import NotAchievedException
from common import PreconditionFailedException
from MAVProxy.modules.lib import mp_util
# 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 default_frame(self):
return "plane-elevrev"
def apply_defaultfile_parameters(self):
# plane passes in a defaults_file 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 arming_test_mission(self):
return os.path.join(testdir, "ArduPlane-Missions", "test_arming.txt")
def takeoff(self, alt=150, alt_max=None, relative=True):
"""Takeoff to altitude."""
if alt_max is None:
alt_max = alt + 30
self.mavproxy.send('switch 4\n')
self.wait_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(3, 1600)
self.set_rc(4, 1500)
self.wait_groundspeed(12, 100)
# hit the gas harder now, and give it some more elevator
self.set_rc(2, 1100)
self.set_rc(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.mavproxy.send('switch 4\n')
self.wait_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.mavproxy.send('switch 2\n')
self.wait_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 fly_LOITER(self, num_circles=4):
"""Loiter where we are."""
self.progress("Testing LOITER for %u turns" % num_circles)
self.mavproxy.send('loiter\n')
self.wait_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.mavproxy.send('mode FBWA\n')
self.wait_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.mavproxy.send('mode CIRCLE\n')
self.wait_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.mavproxy.send('mode FBWA\n')
self.wait_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.mavproxy.send('mode FBWA\n')
self.wait_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.mavproxy.send('switch 6\n')
self.wait_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.mavproxy.send('switch 4\n')
self.wait_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.mavproxy.send('switch 6\n')
self.wait_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.mavproxy.send('switch 4\n')
self.wait_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.mavproxy.send('mode FBWA\n')
self.wait_mode('FBWA')
self.set_rc(3, 1700)
raise e
# back to FBWA
self.mavproxy.send('mode FBWA\n')
self.wait_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.mavproxy.send("mode STABILIZE\n")
self.wait_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.mavproxy.send('mode FBWA\n')
self.wait_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.mavproxy.send("mode ACRO\n")
self.wait_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.mavproxy.send('mode FBWA\n')
self.wait_mode('FBWA')
self.wait_level_flight()
self.mavproxy.send("mode ACRO\n")
self.wait_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.mavproxy.send('mode FBWA\n')
self.wait_mode('FBWA')
self.set_rc(3, 1700)
return self.wait_level_flight()
def test_FBWB(self, mode='FBWB'):
"""Fly FBWB or CRUISE mode."""
self.mavproxy.send("mode %s\n" % mode)
self.wait_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.mavproxy.send('mode FBWA\n')
self.wait_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):
"""Fly a mission from a file."""
self.progress("Flying mission %s" % filename)
self.load_mission(filename)
self.mavproxy.send('switch 1\n') # auto mode
self.wait_mode('AUTO')
self.wait_waypoint(1, 7, max_dist=60)
self.wait_groundspeed(0, 0.5, timeout=60)
self.mavproxy.expect("Auto disarmed")
self.progress("Mission OK")
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
filename = os.path.join(testdir, "flaps.txt")
self.progress("Using %s to fly home" % filename)
self.load_mission(filename)
self.change_mode("AUTO")
self.mavproxy.send('wp set 7\n')
self.mav.motors_disarmed_wait()
def fly_flaps(self):
"""Test flaps functionality."""
filename = os.path.join(testdir, "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("FLAP_IN_CHANNEL", flaps_ch)
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.mavproxy.send('wp set 1\n')
self.mavproxy.send('switch 1\n') # auto mode
self.wait_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
tstart = self.get_sim_time_cached()
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.wait_seconds(10)
# self.mavproxy.send('switch 6\n')
# self.wait_mode('MANUAL')
# self.wait_seconds(10)
self.progress("Flaps OK")
except Exception as 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.set_parameter("SIM_RC_FAIL", 2) # throttle-to-950
self.wait_mode('CIRCLE') # short failsafe
self.wait_mode('RTL') # long failsafe
self.progress("Ensure we've had our throttle squashed to 950")
self.wait_rc_channel_value(3, 950)
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%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)
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
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("Failing receiver (no-pulses)")
self.set_parameter("SIM_RC_FAIL", 1) # no-pulses
self.wait_mode('CIRCLE') # short failsafe
self.wait_mode('RTL') # long failsafe
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%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)
self.progress("Giving receiver time to recover")
for i in range(1, 10):
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')
def test_gripper_mission(self):
self.context_push()
ex = None
try:
self.load_mission("plane-gripper-mission.txt")
self.mavproxy.send("wp set 1\n")
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.mavproxy.expect("Gripper Grabbed")
self.mavproxy.expect("Gripper Released")
self.mavproxy.expect("Auto disarmed")
except Exception as e:
self.progress("Exception caught:")
self.progress(self.get_exception_stacktrace(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 do_fence_en_or_dis_able(self, value, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
if value:
p1 = 1
else:
p1 = 0
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE,
p1, # param1
0, # param2
0, # param3
0, # param4
0, # param5
0, # param6
0, # param7
want_result=want_result)
def do_fence_enable(self, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
self.do_fence_en_or_dis_able(True, want_result=want_result)
def do_fence_disable(self, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
self.do_fence_en_or_dis_able(False, want_result=want_result)
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
now = self.get_sim_time()
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.assert_fence_sys_status(False, False, True)
fence_filepath = os.path.join(self.mission_directory(),
"CMAC-fence.txt")
self.mavproxy.send("fence load %s\n" % fence_filepath)
self.mavproxy.expect("Loaded 6 geo-fence")
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", mavutil.mavlink.FENCE_ACTION_NONE) # report only
self.assert_fence_sys_status(False, False, True)
self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_RTL) # report only
self.assert_fence_sys_status(True, False, True)
self.mavproxy.send('fence enable\n')
self.mavproxy.expect("fence enabled")
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.mavproxy.send('fence disable\n')
self.mavproxy.expect("fence disabled")
self.assert_fence_sys_status(True, False, True)
self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_NONE)
self.assert_fence_sys_status(False, False, True)
self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_RTL)
self.assert_fence_sys_status(True, False, True)
self.mavproxy.send("fence clear\n")
self.mavproxy.expect("fence removed")
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.mavproxy.send("fence load %s\n" % fence_filepath)
self.mavproxy.expect("Loaded 6 geo-fence")
self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_RTL)
self.do_fence_enable()
self.assert_fence_sys_status(True, True, True)
self.mavproxy.send("fence clear\n")
self.mavproxy.expect("fence removed")
if self.get_parameter("FENCE_TOTAL") != 0:
raise NotAchievedException("Expected zero points remaining")
self.assert_fence_sys_status(False, False, True)
except Exception as e:
self.progress("Exception caught:")
self.progress(self.get_exception_stacktrace(e))
ex = e
self.mavproxy.send('fence clear\n')
if ex is not None:
raise ex
def test_fence_breach_circle_at(self, loc, disable_on_breach=False):
ex = None
try:
fence_filepath = os.path.join(self.mission_directory(),
"CMAC-fence.txt")
self.mavproxy.send("fence load %s\n" % fence_filepath)
self.mavproxy.expect("Loaded 6 geo-fence")
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", mavutil.mavlink.FENCE_ACTION_RTL)
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.progress("Exception caught:")
self.progress(self.get_exception_stacktrace(e))
ex = e
self.mavproxy.send('fence clear\n')
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 location_offset_ne(self, location, north, east):
print("old: %f %f" % (location.lat, location.lng))
(lat, lng) = mp_util.gps_offset(location.lat, location.lng, east, north)
location.lat = lat
location.lng = lng
print("new: %f %f" % (location.lat, location.lng))
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.progress("Exception caught:")
self.progress(self.get_exception_stacktrace(e))
ex = e
self.mavproxy.send('rally clear\n')
if ex is not None:
raise ex
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.mavproxy.send("wp set 1\n")
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.mavproxy.expect("BANG")
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.mavproxy.expect("BANG")
self.disarm_vehicle(force=True)
self.reboot_sitl()
def run_subtest(self, desc, func):
self.start_subtest(desc)
func()
def test_main_flight(self):
self.change_mode('MANUAL')
# grab home position:
m = 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("Mission test",
lambda: self.fly_mission(
os.path.join(testdir, "ap1.txt")))
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 = os.path.join(testdir, "flaps.txt")
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.mav.motors_disarmed_wait()
def test_rangefinder(self):
ex = None
self.context_push()
self.progress("Making sure we don't ordinarily get RANGEFINDER")
try:
m = self.mav.recv_match(type='RANGEFINDER',
blocking=True,
timeout=5)
except Exception as e:
print("Caught exception:")
self.progress(self.get_exception_stacktrace(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.mavproxy.send("wp set 1\n")
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
home = self.poll_home_position()
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.mavproxy.expect("Auto disarmed")
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.progress("Exception caught:")
self.progress(self.get_exception_stacktrace(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 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("FLTMODE5", 1)
self.mavproxy.send('switch 1\n') # random mode
self.wait_heartbeat()
self.change_mode('MANUAL')
self.mavproxy.send('switch 5\n') # acro mode
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 test_adsb(self):
self.wait_ready_to_arm()
here = self.mav.location()
# message ADSB_VEHICLE 37 -353632614 1491652305 0 584070 0 0 0 "bob" 3 1 255 17
self.set_parameter("ADSB_ENABLE", 1)
self.set_parameter("AVD_ENABLE", 1)
self.delay_sim_time(1) # TODO: work out why this is required...
self.mav.mav.adsb_vehicle_send(37, # ICAO address
here.lat * 1e7,
here.lng * 1e7,
mavutil.mavlink.ADSB_ALTITUDE_TYPE_PRESSURE_QNH,
here.alt*1000 + 10000, # 10m up
0, # heading in cdeg
0, # horizontal velocity cm/s
0, # vertical velocity cm/s
"bob", # callsign
mavutil.mavlink.ADSB_EMITTER_TYPE_LIGHT,
1, # time since last communication
65535, # flags
17 # squawk
)
self.progress("Waiting for collision message")
m = self.mav.recv_match(type='COLLISION', blocking=True, timeout=2)
if m is None:
raise NotAchievedException("Did not get collision message")
if m.threat_level != 2:
raise NotAchievedException("Expected some threat at least")
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),
("TestFlaps", "Flaps", self.fly_flaps),
("DO_CHANGE_SPEED", "Test mavlink DO_CHANGE_SPEED command", self.fly_do_change_speed),
("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),
("ADSB",
"Test ADSB",
self.test_adsb),
("LogDownLoad",
"Log download",
lambda: self.log_download(
self.buildlogs_path("ArduPlane-log.bin"),
timeout=450,
upload_logs=True))
])
return ret