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ardupilot/Tools/autotest/ardusub.py

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'''
Dive ArduSub in SITL
Depth of water is 50m, the ground is flat
Parameters are in-code defaults plus default_params/sub.parm
AP_FLAKE8_CLEAN
'''
from __future__ import print_function
import os
import sys
from pymavlink import mavutil
import vehicle_test_suite
from vehicle_test_suite import NotAchievedException
from vehicle_test_suite import AutoTestTimeoutException
from vehicle_test_suite import PreconditionFailedException
if sys.version_info[0] < 3:
ConnectionResetError = AutoTestTimeoutException
# 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
# Values for EK3_MAG_CAL
class MagCal():
WHEN_FLYING = 0
WHEN_MANOEUVRING = 1
NEVER = 2
AFTER_FIRST_CLIMB = 3
ALWAYS = 4
# Values for XKFS.MAG_FUSION
class MagFuseSel():
NOT_FUSING = 0
FUSE_YAW = 1
FUSE_MAG = 2
class AutoTestSub(vehicle_test_suite.TestSuite):
@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 default_speedup(self):
'''Sub seems to be race-free'''
return 100
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 is_sub(self):
return True
def watch_altitude_maintained(self, delta=0.3, 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 AltitudeHold(self):
"""Test ALT_HOLD mode"""
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_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 = 1300
if msg.relative_alt/1000.0 < -6.0:
# need to go up, not down!
pwm = 1700
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()
# Make sure the code can handle buoyancy changes
self.set_parameter("SIM_BUOYANCY", 10)
self.watch_altitude_maintained()
self.set_parameter("SIM_BUOYANCY", -10)
self.watch_altitude_maintained()
# Make sure that the ROV will dive with a small input down even if there is a 10N buoyancy force upwards
self.set_parameter("SIM_BUOYANCY", 10)
self.set_rc(Joystick.Throttle, 1350)
self.wait_altitude(altitude_min=-6, altitude_max=-5.5)
self.set_rc(Joystick.Throttle, 1500)
self.watch_altitude_maintained()
self.disarm_vehicle()
def RngfndQuality(self):
"""Check lua Range Finder quality information flow"""
self.context_push()
self.context_collect('STATUSTEXT')
ex = None
try:
self.set_parameters({
"SCR_ENABLE": 1,
"RNGFND1_TYPE": 36,
"RNGFND1_ORIENT": 25,
"RNGFND1_MIN_CM": 10,
"RNGFND1_MAX_CM": 5000,
})
self.install_example_script_context("rangefinder_quality_test.lua")
# These string must match those sent by the lua test script.
complete_str = "#complete#"
failure_str = "!!failure!!"
self.reboot_sitl()
self.wait_statustext(complete_str, timeout=20, check_context=True)
found_failure = self.statustext_in_collections(failure_str)
if found_failure is not None:
raise NotAchievedException("RngfndQuality test failed: " + found_failure.text)
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
# restart SITL RF driver
self.reboot_sitl()
if ex:
raise ex
def watch_distance_maintained(self, delta=0.3, timeout=5.0):
"""Watch and wait for the rangefinder reading to be maintained"""
tstart = self.get_sim_time_cached()
previous_distance = self.mav.recv_match(type='RANGEFINDER', blocking=True).distance
self.progress('Distance to be watched: %.2f' % previous_distance)
while True:
m = self.mav.recv_match(type='RANGEFINDER', blocking=True)
if self.get_sim_time_cached() - tstart > timeout:
self.progress('Distance hold done: %f' % previous_distance)
return
if abs(m.distance - previous_distance) > delta:
raise NotAchievedException(
"Distance not maintained: want %.2f (+/- %.2f) got=%.2f" %
(previous_distance, delta, m.distance))
def Surftrak(self):
"""Test SURFTRAK mode"""
if self.get_parameter('RNGFND1_MAX_CM') != 3000.0:
raise PreconditionFailedException("RNGFND1_MAX_CM is not %g" % 3000.0)
# Something closer to Bar30 noise
self.context_push()
self.set_parameter("SIM_BARO_RND", 0.01)
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('MANUAL')
# Dive to -5m, outside of rangefinder range, will act like ALT_HOLD
pwm = 1300 if self.get_altitude(relative=True) > -6 else 1700
self.set_rc(Joystick.Throttle, pwm)
self.wait_altitude(altitude_min=-6, altitude_max=-5, relative=False, timeout=60)
self.set_rc(Joystick.Throttle, 1500)
self.delay_sim_time(1)
self.context_collect('STATUSTEXT')
self.change_mode(21)
self.wait_statustext('waiting for a rangefinder reading', check_context=True)
self.context_clear_collection('STATUSTEXT')
self.watch_altitude_maintained()
# Move into range, should set a rangefinder target and maintain it
self.set_rc(Joystick.Throttle, 1300)
self.wait_altitude(altitude_min=-26, altitude_max=-25, relative=False, timeout=60)
self.set_rc(Joystick.Throttle, 1500)
self.delay_sim_time(4)
self.wait_statustext('rangefinder target is', check_context=True)
self.context_clear_collection('STATUSTEXT')
self.watch_distance_maintained()
# Move a few meters, should apply a delta and maintain the new rangefinder target
self.set_rc(Joystick.Throttle, 1300)
self.wait_altitude(altitude_min=-31, altitude_max=-30, relative=False, timeout=60)
self.set_rc(Joystick.Throttle, 1500)
self.delay_sim_time(4)
self.wait_statustext('rangefinder target is', check_context=True)
self.watch_distance_maintained()
self.disarm_vehicle()
self.context_pop()
def prepare_synthetic_seafloor_test(self, sea_floor_depth, rf_target):
self.set_parameters({
"SCR_ENABLE": 1,
"RNGFND1_TYPE": 36,
"RNGFND1_ORIENT": 25,
"RNGFND1_MIN_CM": 10,
"RNGFND1_MAX_CM": 3000,
"SCR_USER1": 2, # Configuration bundle
"SCR_USER2": sea_floor_depth, # Depth in meters
"SCR_USER3": 101, # Output log records
"SCR_USER4": rf_target, # Rangefinder target in meters
})
self.install_example_script_context("sub_test_synthetic_seafloor.lua")
# Reboot to enable scripting.
self.reboot_sitl()
self.set_rc_default()
self.wait_ready_to_arm()
def watch_true_distance_maintained(self, match_distance, delta=0.3, timeout=5.0, final_waypoint=0):
"""Watch and wait for the rangefinder reading to be maintained"""
def get_true_distance():
"""Return the True distance from the simulated range finder"""
m_true = self.mav.recv_match(type='STATUSTEXT', blocking=True, timeout=3.0)
if m_true is None:
return m_true
idx_tr = m_true.text.find('#TR#')
if idx_tr < 0:
return None
return float(m_true.text[(idx_tr+4):(idx_tr+12)])
tstart = self.get_sim_time_cached()
self.progress('Distance to be watched: %.2f (+/- %.2f)' % (match_distance, delta))
max_delta = 0.0
while True:
timed_out = self.get_sim_time_cached() - tstart > timeout
# If final_waypoint>0 then timeout is failure, otherwise success
if timed_out and final_waypoint > 0:
raise NotAchievedException(
"Mission not complete: want waypoint %i, only made it to waypoint %i" %
(final_waypoint, self.mav.waypoint_current()))
if timed_out:
self.progress('Distance hold done. Max delta:%.2fm' % max_delta)
return
true_distance = get_true_distance()
if true_distance is None:
continue
match_delta = abs(true_distance - match_distance)
if match_delta > max_delta:
max_delta = match_delta
if match_delta > delta:
raise NotAchievedException(
"Distance not maintained: want %.2f (+/- %.2f) got=%.2f (%.2f)" %
(match_distance, delta, true_distance, match_delta))
if final_waypoint > 0:
if self.mav.waypoint_current() >= final_waypoint:
self.progress('Distance hold during mission done. Max delta:%.2fm' % max_delta)
return
def SimTerrainSurftrak(self):
"""Move at a constant height above synthetic sea floor"""
sea_floor_depth = 50 # Depth of sea floor at location of test
match_distance = 15 # Desired sub distance from sea floor
start_altitude = -sea_floor_depth+match_distance
end_altitude = start_altitude - 10
validation_delta = 1.5 # Largest allowed distance between sub height and desired height
self.context_push()
self.prepare_synthetic_seafloor_test(sea_floor_depth, match_distance)
self.change_mode('MANUAL')
self.arm_vehicle()
# Dive to match_distance off the bottom in preparation for the mission
pwm = 1300 if self.get_altitude(relative=True) > start_altitude else 1700
self.set_rc(Joystick.Throttle, pwm)
self.wait_altitude(altitude_min=start_altitude-1, altitude_max=start_altitude, relative=False, timeout=120)
self.set_rc(Joystick.Throttle, 1500)
self.delay_sim_time(1)
# Turn on surftrak and move around
self.change_mode(21)
# Go south over the ridge.
self.reach_heading_manual(180)
self.set_rc(Joystick.Forward, 1650)
self.watch_true_distance_maintained(match_distance, delta=validation_delta, timeout=60)
self.set_rc(Joystick.Forward, 1500)
# Shift west a bit
self.reach_heading_manual(270)
self.set_rc(Joystick.Forward, 1650)
self.watch_true_distance_maintained(match_distance, delta=validation_delta, timeout=5)
self.set_rc(Joystick.Forward, 1500)
# Go south over the plateau
self.reach_heading_manual(180)
self.set_rc(Joystick.Forward, 1650)
self.watch_true_distance_maintained(match_distance, delta=validation_delta, timeout=60)
# The mission ends at end_altitude. Do a check to ensure that the sub is at this altitude
self.wait_altitude(altitude_min=end_altitude-validation_delta/2, altitude_max=end_altitude+validation_delta/2,
relative=False, timeout=1)
self.set_rc(Joystick.Forward, 1500)
self.disarm_vehicle()
self.context_pop()
self.reboot_sitl() # e.g. revert rangefinder configuration
def SimTerrainMission(self):
"""Mission at a constant height above synthetic sea floor"""
sea_floor_depth = 50 # Depth of sea floor at location of test
match_distance = 15 # Desired sub distance from sea floor
start_altitude = -sea_floor_depth+match_distance
end_altitude = start_altitude - 10
validation_delta = 1.5 # Largest allowed distance between sub height and desired height
self.context_push()
self.prepare_synthetic_seafloor_test(sea_floor_depth, match_distance)
# The synthetic seafloor has an east-west ridge south of the sub.
# The mission contained in terrain_mission.txt instructs the sub
# to remain at 15m above the seafloor and travel south over the
# ridge. Then the sub moves west and travels north over the ridge.
filename = "terrain_mission.txt"
self.load_mission(filename)
self.change_mode('MANUAL')
self.arm_vehicle()
# Dive to match_distance off the bottom in preparation for the mission
pwm = 1300 if self.get_altitude(relative=True) > start_altitude else 1700
self.set_rc(Joystick.Throttle, pwm)
self.wait_altitude(altitude_min=start_altitude-1, altitude_max=start_altitude, relative=False, timeout=120)
self.set_rc(Joystick.Throttle, 1500)
self.delay_sim_time(1)
self.change_mode('AUTO')
self.watch_true_distance_maintained(match_distance, delta=validation_delta, timeout=500.0, final_waypoint=4)
# The mission ends at end_altitude. Do a check to ensure that the sub is at this altitude.
self.wait_altitude(altitude_min=end_altitude-validation_delta/2, altitude_max=end_altitude+validation_delta/2,
relative=False, timeout=1)
self.disarm_vehicle()
self.context_pop()
self.reboot_sitl() # e.g. revert rangefinder configuration
def ModeChanges(self, delta=0.2):
"""Check if alternating between ALTHOLD, STABILIZE, POSHOLD and SURFTRAK (mode 21) affects altitude"""
self.wait_ready_to_arm()
self.arm_vehicle()
# zero buoyancy and no baro noise
self.set_parameter("SIM_BUOYANCY", 0)
self.set_parameter("SIM_BARO_RND", 0)
# dive a bit to make sure we are not surfaced
self.change_mode('STABILIZE')
self.set_rc(Joystick.Throttle, 1350)
self.delay_sim_time(10)
self.set_rc(Joystick.Throttle, 1500)
self.delay_sim_time(3)
# start the test itself, go through some modes and check if anything changes
previous_altitude = self.mav.recv_match(type='VFR_HUD', blocking=True).alt
self.change_mode('ALT_HOLD')
self.delay_sim_time(2)
self.change_mode('POSHOLD')
self.delay_sim_time(2)
self.change_mode('STABILIZE')
self.delay_sim_time(2)
self.change_mode(21)
self.delay_sim_time(2)
self.change_mode('ALT_HOLD')
self.delay_sim_time(2)
self.change_mode('STABILIZE')
self.delay_sim_time(2)
self.change_mode('ALT_HOLD')
self.delay_sim_time(2)
self.change_mode(21)
self.delay_sim_time(2)
self.change_mode('MANUAL')
self.disarm_vehicle()
final_altitude = self.mav.recv_match(type='VFR_HUD', blocking=True).alt
if abs(previous_altitude - final_altitude) > delta:
raise NotAchievedException(
"Changing modes affected depth with no throttle input!, started at {}, ended at {}"
.format(previous_altitude, final_altitude)
)
def PositionHold(self):
"""Test POSHOLD mode"""
self.wait_ready_to_arm()
self.arm_vehicle()
# point North
self.reach_heading_manual(0)
self.change_mode('POSHOLD')
# dive a little
self.set_rc(Joystick.Throttle, 1300)
self.delay_sim_time(3)
self.set_rc(Joystick.Throttle, 1500)
self.delay_sim_time(2)
# Save starting point
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")
start_pos = self.mav.location()
# Hold in perfect conditions
self.progress("Testing position hold in perfect conditions")
self.delay_sim_time(10)
distance_m = self.get_distance(start_pos, self.mav.location())
if distance_m > 1:
raise NotAchievedException("Position Hold was unable to keep position in calm waters within 1 meter after 10 seconds, drifted {} meters".format(distance_m)) # noqa
# Hold in 1 m/s current
self.progress("Testing position hold in current")
self.set_parameter("SIM_WIND_SPD", 1)
self.set_parameter("SIM_WIND_T", 1)
self.delay_sim_time(10)
distance_m = self.get_distance(start_pos, self.mav.location())
if distance_m > 1:
raise NotAchievedException("Position Hold was unable to keep position in 1m/s current within 1 meter after 10 seconds, drifted {} meters".format(distance_m)) # noqa
# Move forward slowly in 1 m/s current
start_pos = self.mav.location()
self.progress("Testing moving forward in position hold in 1m/s current")
self.set_rc(Joystick.Forward, 1600)
self.delay_sim_time(10)
distance_m = self.get_distance(start_pos, self.mav.location())
bearing = self.get_bearing(start_pos, self.mav.location())
if distance_m < 2 or (bearing > 30 and bearing < 330):
raise NotAchievedException("Position Hold was unable to move north 2 meters, moved {} at {} degrees instead".format(distance_m, bearing)) # noqa
self.disarm_vehicle()
def MotorThrustHoverParameterIgnore(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.AltitudeHold()
def DiveManual(self):
'''Dive manual'''
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")
m = self.assert_receive_message('SCALED_PRESSURE3')
# Note this temperature matches the output of the Atmospheric Model for Air currently
# And should be within 1 deg C of 40 degC
if (m.temperature < 3900) or (4100 < m.temperature):
raise NotAchievedException("Did not get correct TSYS01 temperature: Got %f" % m.temperature)
def DiveMission(self):
'''Dive mission'''
filename = "sub_mission.txt"
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 GripperMission(self):
'''Test gripper mission items'''
self.load_mission("sub-gripper-mission.txt")
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('AUTO')
self.wait_waypoint(1, 2, max_dist=5)
self.wait_statustext("Gripper Grabbed", timeout=60)
self.wait_waypoint(1, 4, max_dist=5)
self.wait_statustext("Gripper Released", timeout=60)
self.wait_waypoint(1, 6, max_dist=5)
self.disarm_vehicle()
def SET_POSITION_TARGET_GLOBAL_INT(self):
'''Move vehicle using SET_POSITION_TARGET_GLOBAL_INT'''
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
# 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
)
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 200:
raise NotAchievedException("Did not move far enough")
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 DoubleCircle(self):
'''Test entering circle twice'''
self.change_mode('CIRCLE')
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('STABILIZE')
self.change_mode('CIRCLE')
self.disarm_vehicle()
def default_parameter_list(self):
ret = super(AutoTestSub, self).default_parameter_list()
ret["FS_GCS_ENABLE"] = 0 # FIXME
return ret
def MAV_CMD_NAV_LOITER_UNLIM(self):
'''test handling of MAV_CMD_NAV_LOITER_UNLIM received via mavlink'''
for cmd in self.run_cmd, self.run_cmd_int:
self.change_mode('CIRCLE')
cmd(mavutil.mavlink.MAV_CMD_NAV_LOITER_UNLIM)
self.assert_mode('POSHOLD')
def MAV_CMD_NAV_LAND(self):
'''test handling of MAV_CMD_NAV_LAND received via mavlink'''
for cmd in self.run_cmd, self.run_cmd_int:
self.change_mode('CIRCLE')
cmd(mavutil.mavlink.MAV_CMD_NAV_LAND)
self.assert_mode('SURFACE')
def MAV_CMD_MISSION_START(self):
'''test handling of MAV_CMD_MISSION_START received via mavlink'''
self.upload_simple_relhome_mission([
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, 0),
(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
])
self.wait_ready_to_arm()
self.arm_vehicle()
for cmd in self.run_cmd, self.run_cmd_int:
self.change_mode('CIRCLE')
cmd(mavutil.mavlink.MAV_CMD_MISSION_START)
self.assert_mode('AUTO')
self.disarm_vehicle()
def MAV_CMD_DO_CHANGE_SPEED(self):
'''ensure vehicle changes speeds when DO_CHANGE_SPEED received'''
items = [
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, -3), # Dive so we have constant drag
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, -1),
(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
]
self.upload_simple_relhome_mission(items)
self.wait_ready_to_arm()
self.arm_vehicle()
self.run_cmd(mavutil.mavlink.MAV_CMD_MISSION_START)
self.progress("SENT MISSION START")
self.wait_mode('AUTO')
self.wait_current_waypoint(2) # wait after we finish diving to 3m
for run_cmd in self.run_cmd, self.run_cmd_int:
for speed in [1, 1.5, 0.5]:
run_cmd(mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, p2=speed)
self.wait_groundspeed(speed-0.2, speed+0.2, minimum_duration=2, timeout=60)
self.disarm_vehicle()
def _MAV_CMD_CONDITION_YAW(self, run_cmd):
self.arm_vehicle()
self.change_mode('GUIDED')
for angle in 5, 30, 60, 10:
angular_rate = 10
direction = 1
relative_or_absolute = 0
run_cmd(
mavutil.mavlink.MAV_CMD_CONDITION_YAW,
p1=angle,
p2=angular_rate,
p3=direction,
p4=relative_or_absolute, # 1 for relative, 0 for absolute
)
self.wait_heading(angle, minimum_duration=2)
self.start_subtest('Relative angle')
run_cmd(
mavutil.mavlink.MAV_CMD_CONDITION_YAW,
p1=0,
p2=10,
p3=1,
p4=0, # 1 for relative, 0 for absolute
)
self.wait_heading(0, minimum_duration=2)
run_cmd(
mavutil.mavlink.MAV_CMD_CONDITION_YAW,
p1=20,
p2=10,
p3=1,
p4=1, # 1 for relative, 0 for absolute
)
self.wait_heading(20, minimum_duration=2)
self.disarm_vehicle()
def MAV_CMD_CONDITION_YAW(self):
'''ensure vehicle yaws according to GCS command'''
self._MAV_CMD_CONDITION_YAW(self.run_cmd)
self._MAV_CMD_CONDITION_YAW(self.run_cmd_int)
def MAV_CMD_DO_REPOSITION(self):
"""Move vehicle using MAV_CMD_DO_REPOSITION"""
self.wait_ready_to_arm()
self.arm_vehicle()
# Dive so that rangefinder is in range, required for MAV_FRAME_GLOBAL_TERRAIN_ALT
start_altitude = -25
pwm = 1300 if self.get_altitude(relative=True) > start_altitude else 1700
self.set_rc(Joystick.Throttle, pwm)
self.wait_altitude(altitude_min=start_altitude-1, altitude_max=start_altitude, relative=False, timeout=120)
self.set_rc(Joystick.Throttle, 1500)
self.change_mode('GUIDED')
loc = self.mav.location()
# Reposition, alt relative to surface
loc = self.offset_location_ne(loc, 10, 10)
loc.alt = start_altitude
self.send_do_reposition(loc, frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT)
self.wait_location(loc, timeout=120)
# Reposition, alt relative to seafloor
loc = self.offset_location_ne(loc, 10, 10)
loc.alt = -start_altitude
self.send_do_reposition(loc, frame=mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT)
self.wait_location(loc, timeout=120)
self.disarm_vehicle()
def TerrainMission(self):
"""Mission using surface tracking"""
if self.get_parameter('RNGFND1_MAX_CM') != 3000.0:
raise PreconditionFailedException("RNGFND1_MAX_CM is not %g" % 3000.0)
filename = "terrain_mission.txt"
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, 4, max_dist=5)
self.delay_sim_time(3)
# Expect sub to hover at final altitude
self.assert_altitude(-36.0)
self.disarm_vehicle()
self.progress("Mission OK")
def wait_ekf_happy_const_pos(self, timeout=45):
# All of these must be set for arming to happen in constant position mode:
required_value = (mavutil.mavlink.EKF_ATTITUDE |
mavutil.mavlink.EKF_VELOCITY_HORIZ |
mavutil.mavlink.EKF_VELOCITY_VERT |
mavutil.mavlink.EKF_POS_VERT_ABS |
mavutil.mavlink.EKF_CONST_POS_MODE)
# None of these bits must be set for arming to happen:
error_bits = mavutil.mavlink.EKF_UNINITIALIZED
self.wait_ekf_flags(required_value, error_bits, timeout=timeout)
def wait_ready_to_arm_const_pos(self, timeout=120):
self.progress("Waiting for ready to arm (constant position mode)")
start = self.get_sim_time()
self.wait_ekf_happy_const_pos(timeout=timeout)
armable_time = self.get_sim_time() - start
self.progress("Took %u seconds to become armable" % armable_time)
self.total_waiting_to_arm_time += armable_time
self.waiting_to_arm_count += 1
def collected_msgs(self, msg_type):
c = self.context_get()
if msg_type not in c.collections:
raise NotAchievedException("Not collecting (%s)" % str(msg_type))
return c.collections[msg_type]
def SetGlobalOrigin(self):
"""Test SET_GPS_GLOBAL_ORIGIN mav msg"""
self.context_push()
self.set_parameters({
'GPS1_TYPE': 0, # Disable the GPS
'EK3_SRC1_POSXY': 0, # Make sure EK3_SRC parameters do not refer to a GPS
})
self.reboot_sitl()
# Wait for the EKF to be happy in constant position mode
self.wait_ready_to_arm_const_pos()
if self.current_onboard_log_contains_message('ORGN'):
raise NotAchievedException("Found unexpected ORGN message")
self.context_collect('GPS_GLOBAL_ORIGIN')
# This should set the EKF origin, write an ORGN msg to df and a GPS_GLOBAL_ORIGIN msg to MAVLink
self.mav.mav.set_gps_global_origin_send(1, int(47.607584 * 1e7), int(-122.343911 * 1e7), 0)
self.delay_sim_time(1)
if not self.current_onboard_log_contains_message('ORGN'):
raise NotAchievedException("Did not find expected ORGN message")
num_mavlink_origin_msgs = len(self.collected_msgs('GPS_GLOBAL_ORIGIN'))
if num_mavlink_origin_msgs != 1:
raise NotAchievedException("Expected 1 GPS_GLOBAL_ORIGIN message, found %d" % num_mavlink_origin_msgs)
self.context_pop()
# restart GPS driver
self.reboot_sitl()
def BackupOrigin(self):
"""Test ORIGIN_LAT and ORIGIN_LON parameters"""
self.context_push()
self.set_parameters({
'GPS1_TYPE': 0, # Disable GPS
'EK3_SRC1_POSXY': 0, # Make sure EK3_SRC parameters do not refer to GPS
'EK3_SRC1_VELXY': 0, # Make sure EK3_SRC parameters do not refer to GPS
'ORIGIN_LAT': 47.607584,
'ORIGIN_LON': -122.343911,
})
self.reboot_sitl()
self.context_collect('STATUSTEXT')
# Wait for the EKF to be happy in constant position mode
self.wait_ready_to_arm_const_pos()
if self.current_onboard_log_contains_message('ORGN'):
raise NotAchievedException("Found unexpected ORGN message")
# This should set the origin and write a record to ORGN
self.arm_vehicle()
self.wait_statustext('Using backup location', check_context=True)
if not self.current_onboard_log_contains_message('ORGN'):
raise NotAchievedException("Did not find expected ORGN message")
self.disarm_vehicle()
self.context_pop()
def assert_mag_fusion_selection(self, expect_sel):
"""Get the most recent XKFS message and check the MAG_FUSION value"""
self.progress("Expect mag fusion selection %d" % expect_sel)
mlog = self.dfreader_for_current_onboard_log()
found_sel = MagFuseSel.NOT_FUSING
while True:
m = mlog.recv_match(type='XKFS')
if m is None:
break
found_sel = m.MAG_FUSION
if found_sel != expect_sel:
raise NotAchievedException("Expected mag fusion selection %d, found %d" % (expect_sel, found_sel))
def FuseMag(self):
"""Test EK3_MAG_CAL values"""
# WHEN_FLYING: switch to FUSE_MAG after sub is armed for 5 seconds; switch to FUSE_YAW on disarm
self.set_parameters({'EK3_MAG_CAL': MagCal.WHEN_FLYING})
self.reboot_sitl()
self.wait_ready_to_arm()
self.assert_mag_fusion_selection(MagFuseSel.FUSE_YAW)
self.arm_vehicle()
self.delay_sim_time(10)
self.assert_mag_fusion_selection(MagFuseSel.FUSE_MAG)
self.disarm_vehicle()
self.delay_sim_time(1)
self.assert_mag_fusion_selection(MagFuseSel.FUSE_YAW)
# AFTER_FIRST_CLIMB: switch to FUSE_MAG after sub is armed and descends 0.5m; switch to FUSE_YAW on disarm
self.set_parameters({'EK3_MAG_CAL': MagCal.AFTER_FIRST_CLIMB})
self.reboot_sitl()
self.wait_ready_to_arm()
self.assert_mag_fusion_selection(MagFuseSel.FUSE_YAW)
altitude = self.get_altitude(relative=True)
self.arm_vehicle()
self.set_rc(Joystick.Throttle, 1300)
self.wait_altitude(altitude_min=altitude-4, altitude_max=altitude-3, relative=False, timeout=60)
self.set_rc(Joystick.Throttle, 1500)
self.assert_mag_fusion_selection(MagFuseSel.FUSE_MAG)
self.disarm_vehicle()
self.delay_sim_time(1)
self.assert_mag_fusion_selection(MagFuseSel.FUSE_YAW)
# ALWAYS
self.set_parameters({'EK3_MAG_CAL': MagCal.ALWAYS})
self.reboot_sitl()
self.wait_ready_to_arm()
self.assert_mag_fusion_selection(MagFuseSel.FUSE_MAG)
def INA3221(self):
'''test INA3221 driver'''
self.set_parameters({
"BATT2_MONITOR": 30,
"BATT3_MONITOR": 30,
"BATT4_MONITOR": 30,
})
self.reboot_sitl()
self.set_parameters({
"BATT2_I2C_ADDR": 0x42, # address defined in libraries/SITL/SIM_I2C.cpp
"BATT2_I2C_BUS": 1,
"BATT2_CHANNEL": 1,
"BATT3_I2C_ADDR": 0x42,
"BATT3_I2C_BUS": 1,
"BATT3_CHANNEL": 2,
"BATT4_I2C_ADDR": 0x42,
"BATT4_I2C_BUS": 1,
"BATT4_CHANNEL": 3,
})
self.reboot_sitl()
seen_1 = False
seen_3 = False
tstart = self.get_sim_time()
while not (seen_1 and seen_3):
m = self.assert_receive_message('BATTERY_STATUS')
if self.get_sim_time() - tstart > 10:
# expected to take under 1 simulated second, but don't hang if
# e.g. the driver gets stuck
raise NotAchievedException("INA3221 status timeout")
if m.id == 1:
self.assert_message_field_values(m, {
# values close to chip limits
"voltages[0]": int(25 * 1000), # millivolts
"current_battery": int(160 * 100), # centi-amps
}, epsilon=10) # allow rounding
seen_1 = True
# id 2 is the first simulated battery current/voltage
if m.id == 3:
self.assert_message_field_values(m, {
# values different from above to test channel switching
"voltages[0]": int(3.14159 * 1000), # millivolts
"current_battery": int(2.71828 * 100), # centi-amps
}, epsilon=10) # allow rounding
seen_3 = True
def tests(self):
'''return list of all tests'''
ret = super(AutoTestSub, self).tests()
ret.extend([
self.DiveManual,
self.AltitudeHold,
self.Surftrak,
self.SimTerrainSurftrak,
self.SimTerrainMission,
self.RngfndQuality,
self.PositionHold,
self.ModeChanges,
self.DiveMission,
self.GripperMission,
self.DoubleCircle,
self.MotorThrustHoverParameterIgnore,
self.SET_POSITION_TARGET_GLOBAL_INT,
self.TestLogDownloadMAVProxy,
self.TestLogDownloadMAVProxyNetwork,
self.TestLogDownloadLogRestart,
self.MAV_CMD_NAV_LOITER_UNLIM,
self.MAV_CMD_NAV_LAND,
self.MAV_CMD_MISSION_START,
self.MAV_CMD_DO_CHANGE_SPEED,
self.MAV_CMD_CONDITION_YAW,
self.MAV_CMD_DO_REPOSITION,
self.TerrainMission,
self.SetGlobalOrigin,
self.BackupOrigin,
self.FuseMag,
self.INA3221,
])
return ret
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