#!/usr/bin/env python
'''
Fly Helicopter in SITL
AP_FLAKE8_CLEAN
'''
from __future__ import print_function
from arducopter import AutoTestCopter
from common import AutoTest
from common import NotAchievedException, AutoTestTimeoutException
from pymavlink import mavutil
from pysim import vehicleinfo
class AutoTestHelicopter(AutoTestCopter):
sitl_start_loc = mavutil.location(40.072842, -105.230575, 1586, 0) # Sparkfun AVC Location
def vehicleinfo_key(self):
return 'Helicopter'
def log_name(self):
return "HeliCopter"
def default_frame(self):
return "heli"
def sitl_start_location(self):
return self.sitl_start_loc
def default_speedup(self):
'''Heli seems to be race-free'''
return 100
def is_heli(self):
return True
def rc_defaults(self):
ret = super(AutoTestHelicopter, self).rc_defaults()
ret[8] = 1000
ret[3] = 1000 # collective
return ret
@staticmethod
def get_position_armable_modes_list():
'''filter THROW mode out of armable modes list; Heli is special-cased'''
ret = AutoTestCopter.get_position_armable_modes_list()
ret = filter(lambda x : x != "THROW", ret)
return ret
def loiter_requires_position(self):
self.progress("Skipping loiter-requires-position for heli; rotor runup issues")
def get_collective_out(self):
servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
chan_pwm = (servo.servo1_raw + servo.servo2_raw + servo.servo3_raw)/3.0
return chan_pwm
def rotor_runup_complete_checks(self):
# Takeoff and landing in Loiter
TARGET_RUNUP_TIME = 10
self.zero_throttle()
self.change_mode('LOITER')
self.wait_ready_to_arm()
self.arm_vehicle()
servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
coll = servo.servo1_raw
coll = coll + 50
self.set_parameter("H_RSC_RUNUP_TIME", TARGET_RUNUP_TIME)
self.progress("Initiate Runup by putting some throttle")
self.set_rc(8, 2000)
self.set_rc(3, 1700)
self.progress("Collective threshold PWM %u" % coll)
tstart = self.get_sim_time()
self.progress("Wait that collective PWM pass threshold value")
servo = self.mav.recv_match(condition='SERVO_OUTPUT_RAW.servo1_raw>%u' % coll, blocking=True)
runup_time = self.get_sim_time() - tstart
self.progress("Collective is now at PWM %u" % servo.servo1_raw)
self.mav.wait_heartbeat()
if runup_time < TARGET_RUNUP_TIME:
self.zero_throttle()
self.set_rc(8, 1000)
self.disarm_vehicle()
self.mav.wait_heartbeat()
raise NotAchievedException("Takeoff initiated before runup time complete %u" % runup_time)
self.progress("Runup time %u" % runup_time)
self.zero_throttle()
self.set_rc(8, 1000)
self.land_and_disarm()
self.mav.wait_heartbeat()
# fly_avc_test - fly AVC mission
def fly_avc_test(self):
# Arm
self.change_mode('STABILIZE')
self.wait_ready_to_arm()
self.arm_vehicle()
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
# upload mission from file
self.progress("# Load copter_AVC2013_mission")
# load the waypoint count
num_wp = self.load_mission("copter_AVC2013_mission.txt", strict=False)
if not num_wp:
raise NotAchievedException("load copter_AVC2013_mission failed")
self.progress("Fly AVC mission from 1 to %u" % num_wp)
self.set_current_waypoint(1)
# wait for motor runup
self.delay_sim_time(20)
# switch into AUTO mode and raise throttle
self.change_mode('AUTO')
self.set_rc(3, 1500)
# fly the mission
self.wait_waypoint(0, num_wp-1, timeout=500)
# set throttle to minimum
self.zero_throttle()
# wait for disarm
self.wait_disarmed()
self.progress("MOTORS DISARMED OK")
self.progress("Lowering rotor speed")
self.set_rc(8, 1000)
self.progress("AVC mission completed: passed!")
def takeoff(self,
alt_min=30,
takeoff_throttle=1700,
require_absolute=True,
mode="STABILIZE",
timeout=120):
"""Takeoff get to 30m altitude."""
self.progress("TAKEOFF")
self.change_mode(mode)
if not self.armed():
self.wait_ready_to_arm(require_absolute=require_absolute, timeout=timeout)
self.zero_throttle()
self.arm_vehicle()
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1660, timeout=10)
if mode == 'GUIDED':
self.user_takeoff(alt_min=alt_min)
else:
self.set_rc(3, takeoff_throttle)
self.wait_for_alt(alt_min=alt_min, timeout=timeout)
self.hover()
self.progress("TAKEOFF COMPLETE")
def fly_each_frame(self):
vinfo = vehicleinfo.VehicleInfo()
vinfo_options = vinfo.options[self.vehicleinfo_key()]
known_broken_frames = {
}
for frame in sorted(vinfo_options["frames"].keys()):
self.start_subtest("Testing frame (%s)" % str(frame))
if frame in known_broken_frames:
self.progress("Actually, no I'm not - it is known-broken (%s)" %
(known_broken_frames[frame]))
continue
frame_bits = vinfo_options["frames"][frame]
print("frame_bits: %s" % str(frame_bits))
if frame_bits.get("external", False):
self.progress("Actually, no I'm not - it is an external simulation")
continue
model = frame_bits.get("model", frame)
# the model string for Callisto has crap in it.... we
# should really have another entry in the vehicleinfo data
# to carry the path to the JSON.
actual_model = model.split(":")[0]
defaults = self.model_defaults_filepath(actual_model)
if type(defaults) != list:
defaults = [defaults]
self.customise_SITL_commandline(
["--defaults", ','.join(defaults), ],
model=model,
wipe=True,
)
self.takeoff(10)
self.do_RTL()
self.set_rc(8, 1000)
def hover(self):
self.progress("Setting hover collective")
self.set_rc(3, 1500)
def fly_heli_poshold_takeoff(self):
"""ensure vehicle stays put until it is ready to fly"""
self.context_push()
ex = None
try:
self.set_parameter("PILOT_TKOFF_ALT", 700)
self.change_mode('POSHOLD')
self.zero_throttle()
self.set_rc(8, 1000)
self.wait_ready_to_arm()
# Arm
self.arm_vehicle()
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1660, timeout=10)
self.delay_sim_time(20)
# check we are still on the ground...
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
max_relalt_mm = 1000
if abs(m.relative_alt) > max_relalt_mm:
raise NotAchievedException("Took off prematurely (abs(%f)>%f)" %
(m.relative_alt, max_relalt_mm))
self.progress("Pushing collective past half-way")
self.set_rc(3, 1600)
self.delay_sim_time(0.5)
self.hover()
# make sure we haven't already reached alt:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
max_initial_alt = 1500
if abs(m.relative_alt) > max_initial_alt:
raise NotAchievedException("Took off too fast (%f > %f" %
(abs(m.relative_alt), max_initial_alt))
self.progress("Monitoring takeoff-to-alt")
self.wait_altitude(6.9, 8, relative=True)
self.progress("Making sure we stop at our takeoff altitude")
tstart = self.get_sim_time()
while self.get_sim_time() - tstart < 5:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
delta = abs(7000 - m.relative_alt)
self.progress("alt=%f delta=%f" % (m.relative_alt/1000,
delta/1000))
if delta > 1000:
raise NotAchievedException("Failed to maintain takeoff alt")
self.progress("takeoff OK")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.land_and_disarm()
self.set_rc(8, 1000)
self.context_pop()
if ex is not None:
raise ex
def fly_heli_stabilize_takeoff(self):
""""""
self.context_push()
ex = None
try:
self.change_mode('STABILIZE')
self.set_rc(3, 1000)
self.set_rc(8, 1000)
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1660, timeout=10)
self.delay_sim_time(20)
# check we are still on the ground...
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
if abs(m.relative_alt) > 100:
raise NotAchievedException("Took off prematurely")
self.progress("Pushing throttle past half-way")
self.set_rc(3, 1600)
self.progress("Monitoring takeoff")
self.wait_altitude(6.9, 8, relative=True)
self.progress("takeoff OK")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.land_and_disarm()
self.set_rc(8, 1000)
self.context_pop()
if ex is not None:
raise ex
def fly_spline_waypoint(self, timeout=600):
"""ensure basic spline functionality works"""
self.load_mission("copter_spline_mission.txt", strict=False)
self.change_mode("LOITER")
self.wait_ready_to_arm()
self.arm_vehicle()
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
self.delay_sim_time(20)
self.change_mode("AUTO")
self.set_rc(3, 1500)
tstart = self.get_sim_time()
while True:
if self.get_sim_time() - tstart > timeout:
raise AutoTestTimeoutException("Vehicle did not disarm after mission")
if not self.armed():
break
self.delay_sim_time(1)
self.progress("Lowering rotor speed")
self.set_rc(8, 1000)
def fly_autorotation(self, timeout=600):
"""ensure basic spline functionality works"""
self.set_parameter("AROT_ENABLE", 1)
start_alt = 100 # metres
self.set_parameter("PILOT_TKOFF_ALT", start_alt * 100)
self.change_mode('POSHOLD')
self.set_rc(3, 1000)
self.set_rc(8, 1000)
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1660, timeout=10)
self.delay_sim_time(20)
self.set_rc(3, 2000)
self.wait_altitude(start_alt - 1,
(start_alt + 5),
relative=True,
timeout=timeout)
self.context_collect('STATUSTEXT')
self.progress("Triggering autorotate by raising interlock")
self.set_rc(8, 1000)
self.wait_statustext("SS Glide Phase", check_context=True)
self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s",
check_context=True,
regex=True)
speed = float(self.re_match.group(1))
if speed > 30:
raise NotAchievedException("Hit too hard")
self.wait_disarmed()
def set_rc_default(self):
super(AutoTestHelicopter, self).set_rc_default()
self.progress("Lowering rotor speed")
self.set_rc(8, 1000)
def fly_mission(self, filename, strict=True):
num_wp = self.load_mission(filename, strict=strict)
self.change_mode("LOITER")
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(8, 2000) # Raise rotor speed
self.delay_sim_time(20)
self.change_mode("AUTO")
self.set_rc(3, 1500)
self.wait_waypoint(1, num_wp-1)
self.wait_disarmed()
self.set_rc(8, 1000) # Lower rotor speed
# FIXME move this & plane's version to common
def test_airspeed_drivers(self, timeout=600):
# set the start location to CMAC to use same test script as other vehicles
self.sitl_start_loc = mavutil.location(-35.362881, 149.165222, 582.000000, 90.0) # CMAC
self.customise_SITL_commandline(["--home", "%s,%s,%s,%s"
% (-35.362881, 149.165222, 582.000000, 90.0)])
# insert listener to compare airspeeds:
airspeed = [None, None]
def check_airspeeds(mav, m):
m_type = m.get_type()
if (m_type == 'NAMED_VALUE_FLOAT' and
m.name == 'AS2'):
airspeed[1] = m.value
elif m_type == 'VFR_HUD':
airspeed[0] = m.airspeed
else:
return
if airspeed[0] is None or airspeed[1] is None:
return
delta = abs(airspeed[0] - airspeed[1])
if delta > 3:
raise NotAchievedException("Airspeed mismatch (as1=%f as2=%f)" % (airspeed[0], airspeed[1]))
# Copter's airspeed sensors are off by default
self.set_parameter("ARSPD_TYPE", 2) # Analog airspeed driver
self.set_parameter("ARSPD_PIN", 1) # Analog airspeed driver pin for SITL
self.reboot_sitl()
airspeed_sensors = [
("MS5525", 3, 1),
("DLVR", 7, 2),
]
for (name, t, bus) in airspeed_sensors:
self.context_push()
if bus is not None:
self.set_parameter("ARSPD2_BUS", bus)
self.set_parameter("ARSPD2_TYPE", t)
self.reboot_sitl()
self.wait_ready_to_arm()
self.arm_vehicle()
self.install_message_hook_context(check_airspeeds)
self.fly_mission("ap1.txt", strict=False)
if airspeed[0] is None:
raise NotAchievedException("Never saw an airspeed1")
if airspeed[1] is None:
raise NotAchievedException("Never saw an airspeed2")
self.context_pop()
if not self.current_onboard_log_contains_message("ARSP"):
raise NotAchievedException("Expected ARSP log message")
self.reboot_sitl()
def tests(self):
'''return list of all tests'''
ret = AutoTest.tests(self)
ret.extend([
("AVCMission", "Fly AVC mission", self.fly_avc_test),
("RotorRunUp",
"Test rotor runup",
self.rotor_runup_complete_checks),
("PosHoldTakeOff",
"Fly POSHOLD takeoff",
self.fly_heli_poshold_takeoff),
("StabilizeTakeOff",
"Fly stabilize takeoff",
self.fly_heli_stabilize_takeoff),
("SplineWaypoint",
"Fly Spline Waypoints",
self.fly_spline_waypoint),
("AutoRotation",
"Fly AutoRotation",
self.fly_autorotation),
("FlyEachFrame",
"Fly each supported internal frame",
self.fly_each_frame),
("LogUpload",
"Log upload",
self.log_upload),
("AirspeedDrivers",
"Test AirSpeed drivers",
self.test_airspeed_drivers),
])
return ret
def disabled_tests(self):
return {
}