#!/usr/bin/env python # Dive ArduSub in SITL from __future__ import print_function import os from pymavlink import mavutil from common import AutoTest from common import NotAchievedException # get location of scripts testdir = os.path.dirname(os.path.realpath(__file__)) SITL_START_LOCATION = mavutil.location(33.810313, -118.393867, 0, 185) class Joystick(): Pitch = 1 Roll = 2 Throttle = 3 Yaw = 4 Forward = 5 Lateral = 6 class AutoTestSub(AutoTest): @staticmethod def get_not_armable_mode_list(): return [] @staticmethod def get_not_disarmed_settable_modes_list(): return [] @staticmethod def get_no_position_not_settable_modes_list(): return ["AUTO", "GUIDED", "CIRCLE", "POSHOLD"] @staticmethod def get_position_armable_modes_list(): return [] @staticmethod def get_normal_armable_modes_list(): return ["ACRO", "ALT_HOLD", "MANUAL", "STABILIZE", "SURFACE"] def log_name(self): return "ArduSub" def test_filepath(self): return os.path.realpath(__file__) def set_current_test_name(self, name): self.current_test_name_directory = "ArduSub_Tests/" + name + "/" def default_mode(self): return 'MANUAL' def sitl_start_location(self): return SITL_START_LOCATION def default_frame(self): return 'vectored' def init(self): super(AutoTestSub, self).init() # FIXME: self.set_parameter("FS_GCS_ENABLE", 0) def is_sub(self): return True def watch_altitude_maintained(self, delta=0.5, timeout=5.0): """Watch and wait for the actual altitude to be maintained Keyword Arguments: delta {float} -- Maximum altitude range to be allowed from actual point (default: {0.5}) timeout {float} -- Timeout time in simulation seconds (default: {5.0}) Raises: NotAchievedException: Exception when altitude fails to hold inside the time and altitude range """ tstart = self.get_sim_time_cached() previous_altitude = self.mav.recv_match(type='VFR_HUD', blocking=True).alt self.progress('Altitude to be watched: %f' % (previous_altitude)) while True: m = self.mav.recv_match(type='VFR_HUD', blocking=True) if self.get_sim_time_cached() - tstart > timeout: self.progress('Altitude hold done: %f' % (previous_altitude)) return if abs(m.alt - previous_altitude) > delta: raise NotAchievedException("Altitude not maintained: want %.2f (+/- %.2f) got=%.2f" % (previous_altitude, delta, m.alt)) def test_alt_hold(self): """Test ALT_HOLD mode """ self.wait_ready_to_arm() self.arm_vehicle() self.mavproxy.send('mode ALT_HOLD\n') self.wait_mode('ALT_HOLD') msg = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=5) if msg is None: raise NotAchievedException("Did not get GLOBAL_POSITION_INT") pwm = 1000 if msg.relative_alt/1000.0 < -5.5: # need to g`o up, not down! pwm = 2000 self.set_rc(Joystick.Throttle, pwm) self.wait_altitude(altitude_min=-6, altitude_max=-5) self.set_rc(Joystick.Throttle, 1500) # let the vehicle settle (momentum / stopping point shenanigans....) self.delay_sim_time(1) self.watch_altitude_maintained() self.set_rc(Joystick.Throttle, 1000) self.wait_altitude(altitude_min=-20, altitude_max=-19) self.set_rc(Joystick.Throttle, 1500) # let the vehicle settle (momentum / stopping point shenanigans....) self.delay_sim_time(1) self.watch_altitude_maintained() self.set_rc(Joystick.Throttle, 1900) self.wait_altitude(altitude_min=-14, altitude_max=-13) self.set_rc(Joystick.Throttle, 1500) # let the vehicle settle (momentum / stopping point shenanigans....) self.delay_sim_time(1) self.watch_altitude_maintained() self.set_rc(Joystick.Throttle, 1900) self.wait_altitude(altitude_min=-5, altitude_max=-4) self.set_rc(Joystick.Throttle, 1500) # let the vehicle settle (momentum / stopping point shenanigans....) self.delay_sim_time(1) self.watch_altitude_maintained() self.disarm_vehicle() def test_mot_thst_hover_ignore(self): """Test if we are ignoring MOT_THST_HOVER parameter """ # Test default parameter value mot_thst_hover_value = self.get_parameter("MOT_THST_HOVER") if mot_thst_hover_value != 0.5: raise NotAchievedException("Unexpected default MOT_THST_HOVER parameter value {}".format(mot_thst_hover_value)) # Test if parameter is being ignored for value in [0.25, 0.75]: self.set_parameter("MOT_THST_HOVER", value) self.test_alt_hold() def dive_manual(self): self.wait_ready_to_arm() self.arm_vehicle() self.set_rc(Joystick.Throttle, 1600) self.set_rc(Joystick.Forward, 1600) self.set_rc(Joystick.Lateral, 1550) self.wait_distance(50, accuracy=7, timeout=200) self.set_rc(Joystick.Yaw, 1550) self.wait_heading(0) self.set_rc(Joystick.Yaw, 1500) self.wait_distance(50, accuracy=7, timeout=100) self.set_rc(Joystick.Yaw, 1550) self.wait_heading(0) self.set_rc(Joystick.Yaw, 1500) self.set_rc(Joystick.Forward, 1500) self.set_rc(Joystick.Lateral, 1100) self.wait_distance(75, accuracy=7, timeout=100) self.set_rc_default() self.disarm_vehicle() self.progress("Manual dive OK") def dive_mission(self, filename): self.progress("Executing mission %s" % filename) self.load_mission(filename) self.set_rc_default() self.arm_vehicle() self.change_mode('AUTO') self.wait_waypoint(1, 5, max_dist=5) self.disarm_vehicle() self.progress("Mission OK") def test_gripper_mission(self): with self.Context(self): self.test_gripper_body() def test_gripper_body(self): ex = None try: try: self.get_parameter("GRIP_ENABLE", timeout=5) except NotAchievedException as e: self.progress("Skipping; Gripper not enabled in config?") return self.load_mission("sub-gripper-mission.txt") self.mavproxy.send('mode loiter\n') self.wait_ready_to_arm() self.arm_vehicle() self.change_mode('AUTO') self.mavproxy.expect("Gripper Grabbed") self.mavproxy.expect("Gripper Released") except Exception as e: self.progress("Exception caught") ex = e if ex is not None: raise ex def dive_set_position_target(self): self.change_mode('GUIDED') self.wait_ready_to_arm() self.arm_vehicle() startpos = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True) lat = 5 lon = 5 alt = 10 tstart = self.get_sim_time() while True: if self.get_sim_time_cached() - tstart > 200: raise NotAchievedException("Did not move far enough") # send a position-control command self.mav.mav.set_position_target_global_int_send( 0, # timestamp 1, # target system_id 1, # target component id mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, 0b1111111111111000, # mask specifying use-only-lat-lon-alt lat, # lat lon, # lon alt, # alt 0, # vx 0, # vy 0, # vz 0, # afx 0, # afy 0, # afz 0, # yaw 0, # yawrate ) pos = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True) delta = self.get_distance_int(startpos, pos) self.progress("delta=%f (want >10)" % delta) if delta > 10: break self.change_mode('MANUAL') self.disarm_vehicle() def reboot_sitl(self): """Reboot SITL instance and wait it to reconnect.""" self.mavproxy.send("reboot\n") self.mavproxy.expect("Init ArduSub") # empty mav to avoid getting old timestamps: while self.mav.recv_match(blocking=False): pass self.initialise_after_reboot_sitl() def disabled_tests(self): ret = super(AutoTestSub, self).disabled_tests() ret.update({ "ConfigErrorLoop": "Sub does not instantiate AP_Stats. Also see https://github.com/ArduPilot/ardupilot/issues/10247", }) return ret def tests(self): '''return list of all tests''' ret = super(AutoTestSub, self).tests() ret.extend([ ("DiveManual", "Dive manual", self.dive_manual), ("AltitudeHold", "Test altitude holde mode", self.test_alt_hold), ("DiveMission", "Dive mission", lambda: self.dive_mission("sub_mission.txt")), ("GripperMission", "Test gripper mission items", self.test_gripper_mission), ("MotorThrustHoverParameterIgnore", "Test if we are ignoring MOT_THST_HOVER", self.test_mot_thst_hover_ignore), ("SET_POSITION_TARGET_GLOBAL_INT", "Move vehicle using SET_POSITION_TARGET_GLOBAL_INT", self.dive_set_position_target), ("TestLogDownloadMAVProxy", "Test Onboard Log Download using MAVProxy", self.test_log_download_mavproxy), ("LogUpload", "Upload logs", self.log_upload), ]) return ret