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ardupilot/Tools/autotest/arducopter.py

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'''
Fly Copter in SITL
AP_FLAKE8_CLEAN
'''
from __future__ import print_function
import copy
import math
import os
import shutil
import time
import numpy
from pymavlink import quaternion
from pymavlink import mavutil
from pymavlink import mavextra
from pymavlink import rotmat
from pysim import util
from pysim import vehicleinfo
from common import AutoTest
from common import NotAchievedException, AutoTestTimeoutException, PreconditionFailedException
from common import Test
from common import MAV_POS_TARGET_TYPE_MASK
from pymavlink.rotmat import Vector3
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
SITL_START_LOCATION = mavutil.location(-35.362938, 149.165085, 584, 270)
# Flight mode switch positions are set-up in arducopter.param to be
# switch 1 = Circle
# switch 2 = Land
# switch 3 = RTL
# switch 4 = Auto
# switch 5 = Loiter
# switch 6 = Stabilize
class AutoTestCopter(AutoTest):
@staticmethod
def get_not_armable_mode_list():
return ["AUTO", "AUTOTUNE", "BRAKE", "CIRCLE", "FLIP", "LAND", "RTL", "SMART_RTL", "AVOID_ADSB", "FOLLOW"]
@staticmethod
def get_not_disarmed_settable_modes_list():
return ["FLIP", "AUTOTUNE"]
@staticmethod
def get_no_position_not_settable_modes_list():
return []
@staticmethod
def get_position_armable_modes_list():
return ["DRIFT", "GUIDED", "LOITER", "POSHOLD", "THROW"]
@staticmethod
def get_normal_armable_modes_list():
return ["ACRO", "ALT_HOLD", "STABILIZE", "GUIDED_NOGPS"]
def log_name(self):
return "ArduCopter"
def test_filepath(self):
return os.path.realpath(__file__)
def set_current_test_name(self, name):
self.current_test_name_directory = "ArduCopter_Tests/" + name + "/"
def sitl_start_location(self):
return SITL_START_LOCATION
def mavproxy_options(self):
ret = super(AutoTestCopter, self).mavproxy_options()
if self.frame != 'heli':
ret.append('--quadcopter')
return ret
def sitl_streamrate(self):
return 5
def vehicleinfo_key(self):
return 'ArduCopter'
def default_frame(self):
return "+"
def apply_defaultfile_parameters(self):
# Copter passes in a defaults_filepath in place of applying
# parameters afterwards.
pass
def defaults_filepath(self):
return self.model_defaults_filepath(self.frame)
def wait_disarmed_default_wait_time(self):
return 120
def close(self):
super(AutoTestCopter, self).close()
# [2014/05/07] FC Because I'm doing a cross machine build
# (source is on host, build is on guest VM) I cannot hard link
# This flag tells me that I need to copy the data out
if self.copy_tlog:
shutil.copy(self.logfile, self.buildlog)
def is_copter(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("DISARM_DELAY"))
def set_autodisarm_delay(self, delay):
self.set_parameter("DISARM_DELAY", delay)
def user_takeoff(self, alt_min=30, timeout=30, max_err=5):
'''takeoff using mavlink takeoff command'''
self.run_cmd(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
0, # param1
0, # param2
0, # param3
0, # param4
0, # param5
0, # param6
alt_min # param7
)
self.wait_for_alt(alt_min, timeout=timeout, max_err=max_err)
def takeoff(self,
alt_min=30,
takeoff_throttle=1700,
require_absolute=True,
mode="STABILIZE",
timeout=120,
max_err=5):
"""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()
if mode == 'GUIDED':
self.user_takeoff(alt_min=alt_min, timeout=timeout, max_err=max_err)
else:
self.set_rc(3, takeoff_throttle)
self.wait_for_alt(alt_min=alt_min, timeout=timeout, max_err=max_err)
self.hover()
self.progress("TAKEOFF COMPLETE")
def wait_for_alt(self, alt_min=30, timeout=30, max_err=5):
"""Wait for minimum altitude to be reached."""
self.wait_altitude(alt_min - 1,
(alt_min + max_err),
relative=True,
timeout=timeout)
def land_and_disarm(self, timeout=60):
"""Land the quad."""
self.progress("STARTING LANDING")
self.change_mode("LAND")
self.wait_landed_and_disarmed(timeout=timeout)
def wait_landed_and_disarmed(self, min_alt=6, timeout=60):
"""Wait to be landed and disarmed"""
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
alt = m.relative_alt / 1000.0 # mm -> m
if alt > min_alt:
self.wait_for_alt(min_alt, timeout=timeout)
# self.wait_statustext("SIM Hit ground", timeout=timeout)
self.wait_disarmed()
def hover(self, hover_throttle=1500):
self.set_rc(3, hover_throttle)
# Climb/descend to a given altitude
def setAlt(self, desiredAlt=50):
pos = self.mav.location(relative_alt=True)
if pos.alt > desiredAlt:
self.set_rc(3, 1300)
self.wait_altitude((desiredAlt-5), desiredAlt, relative=True)
if pos.alt < (desiredAlt-5):
self.set_rc(3, 1800)
self.wait_altitude((desiredAlt-5), desiredAlt, relative=True)
self.hover()
# Takeoff, climb to given altitude, and fly east for 10 seconds
def takeoffAndMoveAway(self, dAlt=50, dDist=50):
self.progress("Centering sticks")
self.set_rc_from_map({
1: 1500,
2: 1500,
3: 1000,
4: 1500,
})
self.takeoff(alt_min=dAlt, mode='GUIDED')
self.change_mode("ALT_HOLD")
self.progress("Yaw to east")
self.set_rc(4, 1580)
self.wait_heading(90)
self.set_rc(4, 1500)
self.progress("Fly eastbound away from home")
self.set_rc(2, 1800)
self.delay_sim_time(10)
self.set_rc(2, 1500)
self.hover()
self.progress("Copter staging 50 meters east of home at 50 meters altitude In mode Alt Hold")
# loiter - fly south west, then loiter within 5m position and altitude
def ModeLoiter(self, holdtime=10, maxaltchange=5, maxdistchange=5):
"""Hold loiter position."""
self.takeoff(10, mode="LOITER")
# first aim south east
self.progress("turn south east")
self.set_rc(4, 1580)
self.wait_heading(170)
self.set_rc(4, 1500)
# fly south east 50m
self.set_rc(2, 1100)
self.wait_distance(50)
self.set_rc(2, 1500)
# wait for copter to slow moving
self.wait_groundspeed(0, 2)
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
start_altitude = m.alt
start = self.mav.location()
tstart = self.get_sim_time()
self.progress("Holding loiter at %u meters for %u seconds" %
(start_altitude, holdtime))
while self.get_sim_time_cached() < tstart + holdtime:
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
pos = self.mav.location()
delta = self.get_distance(start, pos)
alt_delta = math.fabs(m.alt - start_altitude)
self.progress("Loiter Dist: %.2fm, alt:%u" % (delta, m.alt))
if alt_delta > maxaltchange:
raise NotAchievedException(
"Loiter alt shifted %u meters (> limit %u)" %
(alt_delta, maxaltchange))
if delta > maxdistchange:
raise NotAchievedException(
"Loiter shifted %u meters (> limit of %u)" %
(delta, maxdistchange))
self.progress("Loiter OK for %u seconds" % holdtime)
self.progress("Climb to 30m")
self.change_alt(30)
self.progress("Descend to 20m")
self.change_alt(20)
self.do_RTL()
def ModeAltHold(self):
'''Test AltHold Mode'''
self.takeoff(10, mode="ALT_HOLD")
self.watch_altitude_maintained(altitude_min=9, altitude_max=11)
# feed in full elevator and aileron input and make sure we
# retain altitude:
self.set_rc_from_map({
1: 1000,
2: 1000,
})
self.watch_altitude_maintained(altitude_min=9, altitude_max=11)
self.set_rc_from_map({
1: 1500,
2: 1500,
})
self.do_RTL()
def fly_to_origin(self, final_alt=10):
origin = self.poll_message("GPS_GLOBAL_ORIGIN")
self.change_mode("GUIDED")
self.guided_move_global_relative_alt(origin.latitude,
origin.longitude,
final_alt)
def change_alt(self, alt_min, climb_throttle=1920, descend_throttle=1080):
"""Change altitude."""
def adjust_altitude(current_alt, target_alt, accuracy):
if math.fabs(current_alt - target_alt) <= accuracy:
self.hover()
elif current_alt < target_alt:
self.set_rc(3, climb_throttle)
else:
self.set_rc(3, descend_throttle)
self.wait_altitude(
(alt_min - 5),
alt_min,
relative=True,
called_function=lambda current_alt, target_alt: adjust_altitude(current_alt, target_alt, 1)
)
self.hover()
def setGCSfailsafe(self, paramValue=0):
# Slow down the sim rate if GCS Failsafe is in use
if paramValue == 0:
self.set_parameters({
"FS_GCS_ENABLE": paramValue,
"SIM_SPEEDUP": 10,
})
else:
self.set_parameters({
"SIM_SPEEDUP": 4,
"FS_GCS_ENABLE": paramValue,
})
def RecordThenPlayMission(self, side=50, timeout=300):
'''Use switches to toggle in mission, then fly it'''
self.takeoff(20, mode="ALT_HOLD")
"""Fly a square, flying N then E ."""
tstart = self.get_sim_time()
# ensure all sticks in the middle
self.set_rc_from_map({
1: 1500,
2: 1500,
3: 1500,
4: 1500,
})
# switch to loiter mode temporarily to stop us from rising
self.change_mode('LOITER')
# first aim north
self.progress("turn right towards north")
self.set_rc(4, 1580)
self.wait_heading(10)
self.set_rc(4, 1500)
# save bottom left corner of box as waypoint
self.progress("Save WP 1 & 2")
self.save_wp()
# switch back to ALT_HOLD mode
self.change_mode('ALT_HOLD')
# pitch forward to fly north
self.progress("Going north %u meters" % side)
self.set_rc(2, 1300)
self.wait_distance(side)
self.set_rc(2, 1500)
# save top left corner of square as waypoint
self.progress("Save WP 3")
self.save_wp()
# roll right to fly east
self.progress("Going east %u meters" % side)
self.set_rc(1, 1700)
self.wait_distance(side)
self.set_rc(1, 1500)
# save top right corner of square as waypoint
self.progress("Save WP 4")
self.save_wp()
# pitch back to fly south
self.progress("Going south %u meters" % side)
self.set_rc(2, 1700)
self.wait_distance(side)
self.set_rc(2, 1500)
# save bottom right corner of square as waypoint
self.progress("Save WP 5")
self.save_wp()
# roll left to fly west
self.progress("Going west %u meters" % side)
self.set_rc(1, 1300)
self.wait_distance(side)
self.set_rc(1, 1500)
# save bottom left corner of square (should be near home) as waypoint
self.progress("Save WP 6")
self.save_wp()
# reduce throttle again
self.set_rc(3, 1500)
# descend to 10m
self.progress("Descend to 10m in Loiter")
self.change_mode('LOITER')
self.set_rc(3, 1200)
time_left = timeout - (self.get_sim_time() - tstart)
self.progress("timeleft = %u" % time_left)
if time_left < 20:
time_left = 20
self.wait_altitude(-10, 10, timeout=time_left, relative=True)
self.set_rc(3, 1500)
self.save_wp()
# save the stored mission to file
mavproxy = self.start_mavproxy()
num_wp = self.save_mission_to_file_using_mavproxy(
mavproxy,
os.path.join(testdir, "ch7_mission.txt"))
self.stop_mavproxy(mavproxy)
if not num_wp:
raise NotAchievedException("save_mission_to_file failed")
self.progress("test: Fly a mission from 1 to %u" % num_wp)
self.change_mode('AUTO')
self.set_current_waypoint(1)
self.wait_waypoint(0, num_wp-1, timeout=500)
self.progress("test: MISSION COMPLETE: passed!")
self.land_and_disarm()
# enter RTL mode and wait for the vehicle to disarm
def do_RTL(self, distance_min=None, check_alt=True, distance_max=10, timeout=250):
"""Enter RTL mode and wait for the vehicle to disarm at Home."""
self.change_mode("RTL")
self.hover()
self.wait_rtl_complete(check_alt=check_alt, distance_max=distance_max, timeout=timeout)
def wait_rtl_complete(self, check_alt=True, distance_max=10, timeout=250):
"""Wait for RTL to reach home and disarm"""
self.progress("Waiting RTL to reach Home and disarm")
tstart = self.get_sim_time()
while self.get_sim_time_cached() < tstart + timeout:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
alt = m.relative_alt / 1000.0 # mm -> m
home_distance = self.distance_to_home(use_cached_home=True)
home = ""
alt_valid = alt <= 1
distance_valid = home_distance < distance_max
if check_alt:
if alt_valid and distance_valid:
home = "HOME"
else:
if distance_valid:
home = "HOME"
self.progress("Alt: %.02f HomeDist: %.02f %s" %
(alt, home_distance, home))
# our post-condition is that we are disarmed:
if not self.armed():
if home == "":
raise NotAchievedException("Did not get home")
# success!
return
raise AutoTestTimeoutException("Did not get home and disarm")
def LoiterToAlt(self):
"""Loiter-To-Alt"""
self.context_push()
ex = None
try:
self.set_parameters({
"PLND_ENABLED": 1,
"PLND_TYPE": 4,
})
self.set_analog_rangefinder_parameters()
self.reboot_sitl()
num_wp = self.load_mission("copter_loiter_to_alt.txt")
self.change_mode('LOITER')
self.install_terrain_handlers_context()
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('AUTO')
self.set_rc(3, 1550)
self.wait_current_waypoint(2)
self.set_rc(3, 1500)
self.wait_waypoint(0, num_wp-1, timeout=500)
self.wait_disarmed()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
# Tests all actions and logic behind the radio failsafe
def ThrottleFailsafe(self, side=60, timeout=360):
'''Test Throttle Failsafe'''
self.start_subtest("If you haven't taken off yet RC failure should be instant disarm")
self.change_mode("STABILIZE")
self.set_parameter("DISARM_DELAY", 0)
self.arm_vehicle()
self.set_parameter("SIM_RC_FAIL", 1)
self.disarm_wait(timeout=1)
self.set_parameter("SIM_RC_FAIL", 0)
self.set_parameter("DISARM_DELAY", 10)
# Trigger an RC failure with the failsafe disabled. Verify no action taken.
self.start_subtest("Radio failsafe disabled test: FS_THR_ENABLE=0 should take no failsafe action")
self.set_parameter('FS_THR_ENABLE', 0)
self.set_parameter('FS_OPTIONS', 0)
self.takeoffAndMoveAway()
self.set_parameter("SIM_RC_FAIL", 1)
self.delay_sim_time(5)
self.wait_mode("ALT_HOLD")
self.set_parameter("SIM_RC_FAIL", 0)
self.delay_sim_time(5)
self.wait_mode("ALT_HOLD")
self.end_subtest("Completed Radio failsafe disabled test")
# Trigger an RC failure, verify radio failsafe triggers,
# restore radio, verify RC function by changing modes to cicle
# and stabilize.
self.start_subtest("Radio failsafe recovery test")
self.set_parameter('FS_THR_ENABLE', 1)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("RTL")
self.delay_sim_time(5)
self.set_parameter("SIM_RC_FAIL", 0)
self.delay_sim_time(5)
self.set_rc(5, 1050)
self.wait_mode("CIRCLE")
self.set_rc(5, 1950)
self.wait_mode("STABILIZE")
self.end_subtest("Completed Radio failsafe recovery test")
# Trigger and RC failure, verify failsafe triggers and RTL completes
self.start_subtest("Radio failsafe RTL with no options test: FS_THR_ENABLE=1 & FS_OPTIONS=0")
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("RTL")
self.wait_rtl_complete()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe RTL with no options test")
# Trigger and RC failure, verify failsafe triggers and land completes
self.start_subtest("Radio failsafe LAND with no options test: FS_THR_ENABLE=3 & FS_OPTIONS=0")
self.set_parameter('FS_THR_ENABLE', 3)
self.takeoffAndMoveAway()
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.wait_landed_and_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe LAND with no options test")
# Trigger and RC failure, verify failsafe triggers and SmartRTL completes
self.start_subtest("Radio failsafe SmartRTL->RTL with no options test: FS_THR_ENABLE=4 & FS_OPTIONS=0")
self.set_parameter('FS_THR_ENABLE', 4)
self.takeoffAndMoveAway()
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("SMART_RTL")
self.wait_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe SmartRTL->RTL with no options test")
# Trigger and RC failure, verify failsafe triggers and SmartRTL completes
self.start_subtest("Radio failsafe SmartRTL->Land with no options test: FS_THR_ENABLE=5 & FS_OPTIONS=0")
self.set_parameter('FS_THR_ENABLE', 5)
self.takeoffAndMoveAway()
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("SMART_RTL")
self.wait_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe SmartRTL_Land with no options test")
# Trigger a GPS failure and RC failure, verify RTL fails into
# land mode and completes
self.start_subtest("Radio failsafe RTL fails into land mode due to bad position.")
self.set_parameter('FS_THR_ENABLE', 1)
self.takeoffAndMoveAway()
self.set_parameter('SIM_GPS_DISABLE', 1)
self.delay_sim_time(5)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.wait_landed_and_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.set_parameter('SIM_GPS_DISABLE', 0)
self.wait_ekf_happy()
self.end_subtest("Completed Radio failsafe RTL fails into land mode due to bad position.")
# Trigger a GPS failure and RC failure, verify SmartRTL fails
# into land mode and completes
self.start_subtest("Radio failsafe SmartRTL->RTL fails into land mode due to bad position.")
self.set_parameter('FS_THR_ENABLE', 4)
self.takeoffAndMoveAway()
self.set_parameter('SIM_GPS_DISABLE', 1)
self.delay_sim_time(5)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.wait_landed_and_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.set_parameter('SIM_GPS_DISABLE', 0)
self.wait_ekf_happy()
self.end_subtest("Completed Radio failsafe SmartRTL->RTL fails into land mode due to bad position.")
# Trigger a GPS failure and RC failure, verify SmartRTL fails
# into land mode and completes
self.start_subtest("Radio failsafe SmartRTL->LAND fails into land mode due to bad position.")
self.set_parameter('FS_THR_ENABLE', 5)
self.takeoffAndMoveAway()
self.set_parameter('SIM_GPS_DISABLE', 1)
self.delay_sim_time(5)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.wait_landed_and_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.set_parameter('SIM_GPS_DISABLE', 0)
self.wait_ekf_happy()
self.end_subtest("Completed Radio failsafe SmartRTL->LAND fails into land mode due to bad position.")
# Trigger a GPS failure, then restore the GPS. Trigger an RC
# failure, verify SmartRTL fails into RTL and completes
self.start_subtest("Radio failsafe SmartRTL->RTL fails into RTL mode due to no path.")
self.set_parameter('FS_THR_ENABLE', 4)
self.takeoffAndMoveAway()
self.set_parameter('SIM_GPS_DISABLE', 1)
self.wait_statustext("SmartRTL deactivated: bad position", timeout=60)
self.set_parameter('SIM_GPS_DISABLE', 0)
self.wait_ekf_happy()
self.delay_sim_time(5)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("RTL")
self.wait_rtl_complete()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe SmartRTL->RTL fails into RTL mode due to no path.")
# Trigger a GPS failure, then restore the GPS. Trigger an RC
# failure, verify SmartRTL fails into Land and completes
self.start_subtest("Radio failsafe SmartRTL->LAND fails into land mode due to no path.")
self.set_parameter('FS_THR_ENABLE', 5)
self.takeoffAndMoveAway()
self.set_parameter('SIM_GPS_DISABLE', 1)
self.wait_statustext("SmartRTL deactivated: bad position", timeout=60)
self.set_parameter('SIM_GPS_DISABLE', 0)
self.wait_ekf_happy()
self.delay_sim_time(5)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("LAND")
self.wait_landed_and_disarmed()
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe SmartRTL->LAND fails into land mode due to no path.")
# Trigger an RC failure in guided mode with the option enabled
# to continue in guided. Verify no failsafe action takes place
self.start_subtest("Radio failsafe with option to continue in guided mode: FS_THR_ENABLE=1 & FS_OPTIONS=4")
self.set_parameter("SYSID_MYGCS", self.mav.source_system)
self.setGCSfailsafe(1)
self.set_parameter('FS_THR_ENABLE', 1)
self.set_parameter('FS_OPTIONS', 4)
self.takeoffAndMoveAway()
self.change_mode("GUIDED")
self.set_parameter("SIM_RC_FAIL", 1)
self.delay_sim_time(5)
self.wait_mode("GUIDED")
self.set_parameter("SIM_RC_FAIL", 0)
self.delay_sim_time(5)
self.change_mode("ALT_HOLD")
self.setGCSfailsafe(0)
# self.change_mode("RTL")
# self.wait_disarmed()
self.end_subtest("Completed Radio failsafe with option to continue in guided mode")
# Trigger an RC failure in AUTO mode with the option enabled
# to continue the mission. Verify no failsafe action takes
# place
self.start_subtest("Radio failsafe RTL with option to continue mission: FS_THR_ENABLE=1 & FS_OPTIONS=1")
self.set_parameter('FS_OPTIONS', 1)
self.progress("# Load copter_mission")
num_wp = self.load_mission("copter_mission.txt", strict=False)
if not num_wp:
raise NotAchievedException("load copter_mission failed")
# self.takeoffAndMoveAway()
self.change_mode("AUTO")
self.set_parameter("SIM_RC_FAIL", 1)
self.delay_sim_time(5)
self.wait_mode("AUTO")
self.set_parameter("SIM_RC_FAIL", 0)
self.delay_sim_time(5)
self.wait_mode("AUTO")
# self.change_mode("RTL")
# self.wait_disarmed()
self.end_subtest("Completed Radio failsafe RTL with option to continue mission")
# Trigger an RC failure in AUTO mode without the option
# enabled to continue. Verify failsafe triggers and RTL
# completes
self.start_subtest("Radio failsafe RTL in mission without "
"option to continue should RTL: FS_THR_ENABLE=1 & FS_OPTIONS=0")
self.set_parameter('FS_OPTIONS', 0)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_mode("RTL")
self.wait_rtl_complete()
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
self.set_parameter("SIM_RC_FAIL", 0)
self.end_subtest("Completed Radio failsafe RTL in mission without option to continue")
self.progress("All radio failsafe tests complete")
self.set_parameter('FS_THR_ENABLE', 0)
self.reboot_sitl()
# Tests all actions and logic behind the GCS failsafe
def GCSFailsafe(self, side=60, timeout=360):
'''Test GCS Failsafe'''
try:
self.test_gcs_failsafe(side=side, timeout=timeout)
except Exception as ex:
self.setGCSfailsafe(0)
self.set_parameter('FS_OPTIONS', 0)
self.disarm_vehicle(force=True)
self.reboot_sitl()
raise ex
def test_gcs_failsafe(self, side=60, timeout=360):
# Test double-SmartRTL; ensure we do SmarRTL twice rather than
# landing (tests fix for actual bug)
self.set_parameter("SYSID_MYGCS", self.mav.source_system)
self.context_push()
self.start_subtest("GCS failsafe SmartRTL twice")
self.setGCSfailsafe(3)
self.set_parameter('FS_OPTIONS', 8)
self.takeoffAndMoveAway()
self.set_heartbeat_rate(0)
self.wait_mode("SMART_RTL")
self.wait_disarmed()
self.set_heartbeat_rate(self.speedup)
self.wait_statustext("GCS Failsafe Cleared", timeout=60)
self.takeoffAndMoveAway()
self.set_heartbeat_rate(0)
self.wait_statustext("GCS Failsafe")
def ensure_smartrtl(mav, m):
if m.get_type() != "HEARTBEAT":
return
# can't use mode_is here because we're in the message hook
print("Mode: %s" % self.mav.flightmode)
if self.mav.flightmode != "SMART_RTL":
raise NotAchievedException("Not in SMART_RTL")
self.install_message_hook_context(ensure_smartrtl)
self.set_heartbeat_rate(self.speedup)
self.wait_statustext("GCS Failsafe Cleared", timeout=60)
self.set_heartbeat_rate(0)
self.wait_statustext("GCS Failsafe")
self.wait_disarmed()
self.end_subtest("GCS failsafe SmartRTL twice")
self.set_heartbeat_rate(self.speedup)
self.wait_statustext("GCS Failsafe Cleared", timeout=60)
self.context_pop()
# Trigger telemetry loss with failsafe disabled. Verify no action taken.
self.start_subtest("GCS failsafe disabled test: FS_GCS_ENABLE=0 should take no failsafe action")
self.setGCSfailsafe(0)
self.takeoffAndMoveAway()
self.set_heartbeat_rate(0)
self.delay_sim_time(5)
self.wait_mode("ALT_HOLD")
self.set_heartbeat_rate(self.speedup)
self.delay_sim_time(5)
self.wait_mode("ALT_HOLD")
self.end_subtest("Completed GCS failsafe disabled test")
# Trigger telemetry loss with failsafe enabled. Verify
# failsafe triggers to RTL. Restore telemetry, verify failsafe
# clears, and change modes.
self.start_subtest("GCS failsafe recovery test: FS_GCS_ENABLE=1 & FS_OPTIONS=0")
self.setGCSfailsafe(1)
self.set_parameter('FS_OPTIONS', 0)
self.set_heartbeat_rate(0)
self.wait_mode("RTL")
self.set_heartbeat_rate(self.speedup)
self.wait_statustext("GCS Failsafe Cleared", timeout=60)
self.change_mode("LOITER")
self.end_subtest("Completed GCS failsafe recovery test")
# Trigger telemetry loss with failsafe enabled. Verify failsafe triggers and RTL completes
self.start_subtest("GCS failsafe RTL with no options test: FS_GCS_ENABLE=1 & FS_OPTIONS=0")
self.setGCSfailsafe(1)
self.set_parameter('FS_OPTIONS', 0)
self.set_heartbeat_rate(0)
self.wait_mode("RTL")
self.wait_rtl_complete()
self.set_heartbeat_rate(self.speedup)
self.wait_statustext("GCS Failsafe Cleared", timeout=60)
self.end_subtest("Completed GCS failsafe RTL with no options test")
# Trigger telemetry loss with failsafe enabled. Verify failsafe triggers and land completes
self.start_subtest("GCS failsafe LAND with no options test: FS_GCS_ENABLE=5 & FS_OPTIONS=0")
self.setGCSfailsafe(5)
self.takeoffAndMoveAway()
self.set_heartbeat_rate(0)
self.wait_mode("LAND")
self.wait_landed_and_disarmed()
self.set_heartbeat_rate(self.speedup)
self.wait_statustext("GCS Failsafe Cleared", timeout=60)
self.end_subtest("Completed GCS failsafe land with no options test")
# Trigger telemetry loss with failsafe enabled. Verify failsafe triggers and SmartRTL completes
self.start_subtest("GCS failsafe SmartRTL->RTL with no options test: FS_GCS_ENABLE=3 & FS_OPTIONS=0")
self.setGCSfailsafe(3)
self.takeoffAndMoveAway()
self.set_heartbeat_rate(0)
self.wait_mode("SMART_RTL")
self.wait_disarmed()
self.set_heartbeat_rate(self.speedup)
self.wait_statustext("GCS Failsafe Cleared", timeout=60)
self.end_subtest("Completed GCS failsafe SmartRTL->RTL with no options test")
# Trigger telemetry loss with failsafe enabled. Verify failsafe triggers and SmartRTL completes
self.start_subtest("GCS failsafe SmartRTL->Land with no options test: FS_GCS_ENABLE=4 & FS_OPTIONS=0")
self.setGCSfailsafe(4)
self.takeoffAndMoveAway()
self.set_heartbeat_rate(0)
self.wait_mode("SMART_RTL")
self.wait_disarmed()
self.set_heartbeat_rate(self.speedup)
self.wait_statustext("GCS Failsafe Cleared", timeout=60)
self.end_subtest("Completed GCS failsafe SmartRTL->Land with no options test")
# Trigger telemetry loss with an invalid failsafe value. Verify failsafe triggers and RTL completes
self.start_subtest("GCS failsafe invalid value with no options test: FS_GCS_ENABLE=99 & FS_OPTIONS=0")
self.setGCSfailsafe(99)
self.takeoffAndMoveAway()
self.set_heartbeat_rate(0)
self.wait_mode("RTL")
self.wait_rtl_complete()
self.set_heartbeat_rate(self.speedup)
self.wait_statustext("GCS Failsafe Cleared", timeout=60)
self.end_subtest("Completed GCS failsafe invalid value with no options test")
# Trigger telemetry loss with failsafe enabled to test FS_OPTIONS settings
self.start_subtest("GCS failsafe with option bit tests: FS_GCS_ENABLE=1 & FS_OPTIONS=64/2/16")
num_wp = self.load_mission("copter_mission.txt", strict=False)
if not num_wp:
raise NotAchievedException("load copter_mission failed")
self.setGCSfailsafe(1)
self.set_parameter('FS_OPTIONS', 16)
self.takeoffAndMoveAway()
self.progress("Testing continue in pilot controlled modes")
self.set_heartbeat_rate(0)
self.wait_statustext("GCS Failsafe - Continuing Pilot Control", timeout=60)
self.delay_sim_time(5)
self.wait_mode("ALT_HOLD")
self.set_heartbeat_rate(self.speedup)
self.wait_statustext("GCS Failsafe Cleared", timeout=60)
self.progress("Testing continue in auto mission")
self.set_parameter('FS_OPTIONS', 2)
self.change_mode("AUTO")
self.delay_sim_time(5)
self.set_heartbeat_rate(0)
self.wait_statustext("GCS Failsafe - Continuing Auto Mode", timeout=60)
self.delay_sim_time(5)
self.wait_mode("AUTO")
self.set_heartbeat_rate(self.speedup)
self.wait_statustext("GCS Failsafe Cleared", timeout=60)
self.progress("Testing continue landing in land mode")
self.set_parameter('FS_OPTIONS', 8)
self.change_mode("LAND")
self.delay_sim_time(5)
self.set_heartbeat_rate(0)
self.wait_statustext("GCS Failsafe - Continuing Landing", timeout=60)
self.delay_sim_time(5)
self.wait_mode("LAND")
self.wait_landed_and_disarmed()
self.set_heartbeat_rate(self.speedup)
self.wait_statustext("GCS Failsafe Cleared", timeout=60)
self.end_subtest("Completed GCS failsafe with option bits")
self.setGCSfailsafe(0)
self.set_parameter('FS_OPTIONS', 0)
self.progress("All GCS failsafe tests complete")
def CustomController(self, timeout=300):
'''Test Custom Controller'''
self.progress("Configure custom controller parameters")
self.set_parameters({
'CC_TYPE': 2,
'CC_AXIS_MASK': 7,
'RC6_OPTION': 109,
})
self.set_rc(6, 1000)
self.reboot_sitl()
if self.get_parameter("CC_TYPE") != 2 :
raise NotAchievedException("Custom controller is not switched to PID backend.")
# check if we can retrive any param inside PID backend
self.get_parameter("CC2_RAT_YAW_P")
# takeoff in GPS mode and switch to CIRCLE
self.takeoff(10, mode="LOITER", takeoff_throttle=2000)
self.change_mode("CIRCLE")
self.context_push()
self.context_collect('STATUSTEXT')
# switch custom controller on
self.set_rc(6, 2000)
self.wait_statustext("Custom controller is ON", check_context=True)
# wait 20 second to see if the custom controller destabilize the aircraft
if self.wait_altitude(7, 13, relative=True, minimum_duration=20) :
raise NotAchievedException("Custom controller is not stable.")
# switch custom controller off
self.set_rc(6, 1000)
self.wait_statustext("Custom controller is OFF", check_context=True)
self.context_pop()
self.do_RTL()
self.progress("Custom controller test complete")
# Tests all actions and logic behind the battery failsafe
def BatteryFailsafe(self, timeout=300):
'''Fly Battery Failsafe'''
self.context_push()
ex = None
try:
self.test_battery_failsafe(timeout=timeout)
except Exception as e:
self.print_exception_caught(e)
self.disarm_vehicle(force=True)
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def test_battery_failsafe(self, timeout=300):
self.progress("Configure battery failsafe parameters")
self.set_parameters({
'SIM_SPEEDUP': 4,
'BATT_LOW_VOLT': 11.5,
'BATT_CRT_VOLT': 10.1,
'BATT_FS_LOW_ACT': 0,
'BATT_FS_CRT_ACT': 0,
'FS_OPTIONS': 0,
'SIM_BATT_VOLTAGE': 12.5,
})
# Trigger low battery condition with failsafe disabled. Verify
# no action taken.
self.start_subtest("Batt failsafe disabled test")
self.takeoffAndMoveAway()
m = self.mav.recv_match(type='BATTERY_STATUS', blocking=True, timeout=1)
if m.charge_state != mavutil.mavlink.MAV_BATTERY_CHARGE_STATE_OK:
raise NotAchievedException("Expected state ok")
self.set_parameter('SIM_BATT_VOLTAGE', 11.4)
self.wait_statustext("Battery 1 is low", timeout=60)
m = self.mav.recv_match(type='BATTERY_STATUS', blocking=True, timeout=1)
if m.charge_state != mavutil.mavlink.MAV_BATTERY_CHARGE_STATE_LOW:
raise NotAchievedException("Expected state low")
self.delay_sim_time(5)
self.wait_mode("ALT_HOLD")
self.set_parameter('SIM_BATT_VOLTAGE', 10.0)
self.wait_statustext("Battery 1 is critical", timeout=60)
m = self.mav.recv_match(type='BATTERY_STATUS', blocking=True, timeout=1)
if m.charge_state != mavutil.mavlink.MAV_BATTERY_CHARGE_STATE_CRITICAL:
raise NotAchievedException("Expected state critical")
self.delay_sim_time(5)
self.wait_mode("ALT_HOLD")
self.change_mode("RTL")
self.wait_rtl_complete()
self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
self.reboot_sitl()
self.end_subtest("Completed Batt failsafe disabled test")
# TWO STAGE BATTERY FAILSAFE: Trigger low battery condition,
# then critical battery condition. Verify RTL and Land actions
# complete.
self.start_subtest("Two stage battery failsafe test with RTL and Land")
self.takeoffAndMoveAway()
self.delay_sim_time(3)
self.set_parameters({
'BATT_FS_LOW_ACT': 2,
'BATT_FS_CRT_ACT': 1,
'SIM_BATT_VOLTAGE': 11.4,
})
self.wait_statustext("Battery 1 is low", timeout=60)
self.delay_sim_time(5)
self.wait_mode("RTL")
self.delay_sim_time(10)
self.set_parameter('SIM_BATT_VOLTAGE', 10.0)
self.wait_statustext("Battery 1 is critical", timeout=60)
self.delay_sim_time(5)
self.wait_mode("LAND")
self.wait_landed_and_disarmed()
self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
self.reboot_sitl()
self.end_subtest("Completed two stage battery failsafe test with RTL and Land")
# TWO STAGE BATTERY FAILSAFE: Trigger low battery condition,
# then critical battery condition. Verify both SmartRTL
# actions complete
self.start_subtest("Two stage battery failsafe test with SmartRTL")
self.takeoffAndMoveAway()
self.set_parameter('BATT_FS_LOW_ACT', 3)
self.set_parameter('BATT_FS_CRT_ACT', 4)
self.delay_sim_time(10)
self.set_parameter('SIM_BATT_VOLTAGE', 11.4)
self.wait_statustext("Battery 1 is low", timeout=60)
self.delay_sim_time(5)
self.wait_mode("SMART_RTL")
self.change_mode("LOITER")
self.delay_sim_time(10)
self.set_parameter('SIM_BATT_VOLTAGE', 10.0)
self.wait_statustext("Battery 1 is critical", timeout=60)
self.delay_sim_time(5)
self.wait_mode("SMART_RTL")
self.wait_disarmed()
self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
self.reboot_sitl()
self.end_subtest("Completed two stage battery failsafe test with SmartRTL")
# Trigger low battery condition in land mode with FS_OPTIONS
# set to allow land mode to continue. Verify landing completes
# uninterrupted.
self.start_subtest("Battery failsafe with FS_OPTIONS set to continue landing")
self.takeoffAndMoveAway()
self.set_parameter('FS_OPTIONS', 8)
self.change_mode("LAND")
self.delay_sim_time(5)
self.set_parameter('SIM_BATT_VOLTAGE', 11.4)
self.wait_statustext("Battery 1 is low", timeout=60)
self.delay_sim_time(5)
self.wait_mode("LAND")
self.wait_landed_and_disarmed()
self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
self.reboot_sitl()
self.end_subtest("Completed battery failsafe with FS_OPTIONS set to continue landing")
# Trigger a critical battery condition, which triggers a land
# mode failsafe. Trigger an RC failure. Verify the RC failsafe
# is prevented from stopping the low battery landing.
self.start_subtest("Battery failsafe critical landing")
self.takeoffAndMoveAway(100, 50)
self.set_parameters({
'FS_OPTIONS': 0,
'BATT_FS_LOW_ACT': 1,
'BATT_FS_CRT_ACT': 1,
'FS_THR_ENABLE': 1,
})
self.delay_sim_time(5)
self.set_parameter('SIM_BATT_VOLTAGE', 10.0)
self.wait_statustext("Battery 1 is critical", timeout=60)
self.wait_mode("LAND")
self.delay_sim_time(10)
self.set_parameter("SIM_RC_FAIL", 1)
self.delay_sim_time(10)
self.wait_mode("LAND")
self.wait_landed_and_disarmed()
self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
self.set_parameter("SIM_RC_FAIL", 0)
self.reboot_sitl()
self.end_subtest("Completed battery failsafe critical landing")
# Trigger low battery condition with failsafe set to terminate. Copter will disarm and crash.
self.start_subtest("Battery failsafe terminate")
self.takeoffAndMoveAway()
self.set_parameter('BATT_FS_LOW_ACT', 5)
self.delay_sim_time(10)
self.set_parameter('SIM_BATT_VOLTAGE', 11.4)
self.wait_statustext("Battery 1 is low", timeout=60)
self.wait_disarmed()
self.end_subtest("Completed terminate failsafe test")
self.progress("All Battery failsafe tests complete")
def VibrationFailsafe(self):
'''Test Vibration Failsafe'''
self.context_push()
# takeoff in Loiter to 20m
self.takeoff(20, mode="LOITER")
# simulate accel bias caused by high vibration
self.set_parameters({
'SIM_ACC1_BIAS_Z': 2,
'SIM_ACC2_BIAS_Z': 2,
'SIM_ACC3_BIAS_Z': 2,
})
# wait for Vibration compensation warning and change to LAND mode
self.wait_statustext("Vibration compensation ON", timeout=30)
self.change_mode("LAND")
# check vehicle descends to 2m or less within 40 seconds
self.wait_altitude(-5, 2, timeout=40, relative=True)
# force disarm of vehicle (it will likely not automatically disarm)
self.disarm_vehicle(force=True)
# revert simulated accel bias and reboot to restore EKF health
self.context_pop()
self.reboot_sitl()
def test_takeoff_check_mode(self, mode, user_takeoff=False):
# stabilize check
self.progress("Motor takeoff check in %s" % mode)
self.change_mode(mode)
self.zero_throttle()
self.wait_ready_to_arm()
self.context_collect('STATUSTEXT')
self.send_mavlink_arm_command()
self.mav.recv_match(blocking=True, timeout=1)
if user_takeoff:
self.run_cmd(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 0, 0, 0, 0, 10)
else:
self.set_rc(3, 1700)
# we may never see ourselves as armed in a heartbeat
self.wait_statustext("Takeoff blocked: ESC RPM too low", check_context=True)
self.zero_throttle()
self.disarm_vehicle()
self.wait_disarmed()
# Tests the motor failsafe
def TakeoffCheck(self):
'''Test takeoff check'''
self.set_parameters({
"AHRS_EKF_TYPE": 10,
'SIM_ESC_TELEM': 1,
'SIM_ESC_ARM_RPM': 500,
'TKOFF_RPM_MIN': 1000,
})
self.test_takeoff_check_mode("STABILIZE")
self.test_takeoff_check_mode("ACRO")
self.test_takeoff_check_mode("LOITER")
self.test_takeoff_check_mode("ALT_HOLD")
# self.test_takeoff_check_mode("FLOWHOLD")
self.test_takeoff_check_mode("GUIDED", True)
self.test_takeoff_check_mode("POSHOLD")
# self.test_takeoff_check_mode("SPORT")
def assert_dataflash_message_field_level_at(self,
mtype,
field,
level,
maintain=1,
tolerance=0.05,
timeout=30,
condition=None,
dfreader_start_timestamp=None,
verbose=False):
'''wait for EKF's accel bias to reach a level and maintain it'''
if verbose:
self.progress("current onboard log filepath: %s" % self.current_onboard_log_filepath())
dfreader = self.dfreader_for_current_onboard_log()
achieve_start = None
current_value = None
while True:
m = dfreader.recv_match(type=mtype, condition=condition)
if m is None:
raise NotAchievedException("%s.%s did not maintain %f" %
(mtype, field, level))
if dfreader_start_timestamp is not None:
if m.TimeUS < dfreader_start_timestamp:
continue
if verbose:
print("m=%s" % str(m))
current_value = getattr(m, field)
if abs(current_value - level) > tolerance:
if achieve_start is not None:
self.progress("Achieve stop at %u" % m.TimeUS)
achieve_start = None
continue
dfreader_now = m.TimeUS
if achieve_start is None:
self.progress("Achieve start at %u (got=%f want=%f)" %
(dfreader_now, current_value, level))
if maintain is None:
return
achieve_start = m.TimeUS
continue
# we're achieving....
if dfreader_now - achieve_start > maintain*1e6:
return dfreader_now
# Tests any EK3 accel bias is subtracted from the correct IMU data
def EK3AccelBias(self):
'''Test EK3 Accel Bias data'''
self.context_push()
self.start_test("Test zero bias")
dfreader_tstart = self.assert_dataflash_message_field_level_at(
"XKF2",
"AZ",
0.0,
condition="XKF2.C==1",
)
# Add 2m/s/s bias to the second IMU
self.set_parameters({
'SIM_ACC2_BIAS_Z': 0.7,
})
self.start_subtest("Ensuring second core has bias")
self.delay_sim_time(30)
dfreader_tstart = self.assert_dataflash_message_field_level_at(
"XKF2", "AZ", 0.7,
condition="XKF2.C==1",
)
self.start_subtest("Ensuring earth frame is compensated")
self.assert_dataflash_message_field_level_at(
"RATE", "A", 0,
maintain=1,
tolerance=2, # RATE.A is in cm/s/s
dfreader_start_timestamp=dfreader_tstart,
)
# now switch the EKF to only using the second core:
self.set_parameters({
'SIM_ACC2_BIAS_Z': 0.0,
"EK3_IMU_MASK": 0b10,
})
self.reboot_sitl()
self.delay_sim_time(30)
dfreader_tstart = self.assert_dataflash_message_field_level_at(
"XKF2", "AZ", 0.0,
condition="XKF2.C==0",
)
# Add 2m/s/s bias to the second IMU
self.set_parameters({
'SIM_ACC2_BIAS_Z': 0.7,
})
self.start_subtest("Ensuring first core now has bias")
self.delay_sim_time(30)
dfreader_tstart = self.assert_dataflash_message_field_level_at(
"XKF2", "AZ", 0.7,
condition="XKF2.C==0",
)
self.start_subtest("Ensuring earth frame is compensated")
self.assert_dataflash_message_field_level_at(
"RATE", "A", 0,
maintain=1,
tolerance=2, # RATE.A is in cm/s/s
dfreader_start_timestamp=dfreader_tstart,
verbose=True,
)
# revert simulated accel bias and reboot to restore EKF health
self.context_pop()
self.reboot_sitl()
# StabilityPatch - fly south, then hold loiter within 5m
# position and altitude and reduce 1 motor to 60% efficiency
def StabilityPatch(self,
holdtime=30,
maxaltchange=5,
maxdistchange=10):
'''Fly stability patch'''
self.takeoff(10, mode="LOITER")
# first south
self.progress("turn south")
self.set_rc(4, 1580)
self.wait_heading(180)
self.set_rc(4, 1500)
# fly west 80m
self.set_rc(2, 1100)
self.wait_distance(80)
self.set_rc(2, 1500)
# wait for copter to slow moving
self.wait_groundspeed(0, 2)
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
start_altitude = m.alt
start = self.mav.location()
tstart = self.get_sim_time()
self.progress("Holding loiter at %u meters for %u seconds" %
(start_altitude, holdtime))
# cut motor 1's to efficiency
self.progress("Cutting motor 1 to 65% efficiency")
self.set_parameter("SIM_ENGINE_MUL", 0.65)
while self.get_sim_time_cached() < tstart + holdtime:
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
pos = self.mav.location()
delta = self.get_distance(start, pos)
alt_delta = math.fabs(m.alt - start_altitude)
self.progress("Loiter Dist: %.2fm, alt:%u" % (delta, m.alt))
if alt_delta > maxaltchange:
raise NotAchievedException(
"Loiter alt shifted %u meters (> limit %u)" %
(alt_delta, maxaltchange))
if delta > maxdistchange:
raise NotAchievedException(
("Loiter shifted %u meters (> limit of %u)" %
(delta, maxdistchange)))
# restore motor 1 to 100% efficiency
self.set_parameter("SIM_ENGINE_MUL", 1.0)
self.progress("Stability patch and Loiter OK for %us" % holdtime)
self.progress("RTL after stab patch")
self.do_RTL()
def debug_arming_issue(self):
while True:
self.send_mavlink_arm_command()
m = self.mav.recv_match(blocking=True, timeout=1)
if m is None:
continue
if m.get_type() in ["STATUSTEXT", "COMMAND_ACK"]:
print("Got: %s" % str(m))
if self.mav.motors_armed():
self.progress("Armed")
return
# fly_fence_test - fly east until you hit the horizontal circular fence
avoid_behave_slide = 0
def fly_fence_avoid_test_radius_check(self, timeout=180, avoid_behave=avoid_behave_slide):
using_mode = "LOITER" # must be something which adjusts velocity!
self.change_mode(using_mode)
fence_radius = 15
fence_margin = 3
self.set_parameters({
"FENCE_ENABLE": 1, # fence
"FENCE_TYPE": 2, # circle
"FENCE_RADIUS": fence_radius,
"FENCE_MARGIN": fence_margin,
"AVOID_ENABLE": 1,
"AVOID_BEHAVE": avoid_behave,
"RC10_OPTION": 40, # avoid-enable
})
self.wait_ready_to_arm()
self.set_rc(10, 2000)
home_distance = self.distance_to_home(use_cached_home=True)
if home_distance > 5:
raise PreconditionFailedException("Expected to be within 5m of home")
self.zero_throttle()
self.arm_vehicle()
self.set_rc(3, 1700)
self.wait_altitude(10, 100, relative=True)
self.set_rc(3, 1500)
self.set_rc(2, 1400)
self.wait_distance_to_home(12, 20)
tstart = self.get_sim_time()
push_time = 70 # push against barrier for 60 seconds
failed_max = False
failed_min = False
while True:
if self.get_sim_time() - tstart > push_time:
self.progress("Push time up")
break
# make sure we don't RTL:
if not self.mode_is(using_mode):
raise NotAchievedException("Changed mode away from %s" % using_mode)
distance = self.distance_to_home(use_cached_home=True)
inner_radius = fence_radius - fence_margin
want_min = inner_radius - 1 # allow 1m either way
want_max = inner_radius + 1 # allow 1m either way
self.progress("Push: distance=%f %f<want<%f" %
(distance, want_min, want_max))
if distance < want_min:
if failed_min is False:
self.progress("Failed min")
failed_min = True
if distance > want_max:
if failed_max is False:
self.progress("Failed max")
failed_max = True
if failed_min and failed_max:
raise NotAchievedException("Failed both min and max checks. Clever")
if failed_min:
raise NotAchievedException("Failed min")
if failed_max:
raise NotAchievedException("Failed max")
self.set_rc(2, 1500)
self.do_RTL()
def HorizontalAvoidFence(self, timeout=180):
'''Test horizontal Avoidance fence'''
self.fly_fence_avoid_test_radius_check(avoid_behave=1, timeout=timeout)
self.fly_fence_avoid_test_radius_check(avoid_behave=0, timeout=timeout)
# fly_fence_test - fly east until you hit the horizontal circular fence
def HorizontalFence(self, timeout=180):
'''Test horizontal fence'''
# enable fence, disable avoidance
self.set_parameters({
"FENCE_ENABLE": 1,
"AVOID_ENABLE": 0,
})
self.change_mode("LOITER")
self.wait_ready_to_arm()
# fence requires home to be set:
m = self.poll_home_position(quiet=False)
self.start_subtest("ensure we can't arm if outside fence")
self.load_fence("fence-in-middle-of-nowhere.txt")
self.delay_sim_time(5) # let fence check run so it loads-from-eeprom
self.assert_prearm_failure("vehicle outside fence")
self.progress("Failed to arm outside fence (good!)")
self.clear_fence()
self.delay_sim_time(5) # let fence breach clear
self.drain_mav()
self.end_subtest("ensure we can't arm if outside fence")
self.start_subtest("ensure we can't arm with bad radius")
self.context_push()
self.set_parameter("FENCE_RADIUS", -1)
self.assert_prearm_failure("Invalid FENCE_RADIUS value")
self.context_pop()
self.progress("Failed to arm with bad radius")
self.drain_mav()
self.end_subtest("ensure we can't arm with bad radius")
self.start_subtest("ensure we can't arm with bad alt")
self.context_push()
self.set_parameter("FENCE_ALT_MAX", -1)
self.assert_prearm_failure("Invalid FENCE_ALT_MAX value")
self.context_pop()
self.progress("Failed to arm with bad altitude")
self.end_subtest("ensure we can't arm with bad radius")
self.start_subtest("Check breach-fence behaviour")
self.set_parameter("FENCE_TYPE", 2)
self.takeoff(10, mode="LOITER")
# first east
self.progress("turn east")
self.set_rc(4, 1580)
self.wait_heading(160, timeout=60)
self.set_rc(4, 1500)
fence_radius = self.get_parameter("FENCE_RADIUS")
self.progress("flying forward (east) until we hit fence")
pitching_forward = True
self.set_rc(2, 1100)
self.progress("Waiting for fence breach")
tstart = self.get_sim_time()
while not self.mode_is("RTL"):
if self.get_sim_time_cached() - tstart > 30:
raise NotAchievedException("Did not breach fence")
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
alt = m.relative_alt / 1000.0 # mm -> m
home_distance = self.distance_to_home(use_cached_home=True)
self.progress("Alt: %.02f HomeDistance: %.02f (fence radius=%f)" %
(alt, home_distance, fence_radius))
self.progress("Waiting until we get home and disarm")
tstart = self.get_sim_time()
while self.get_sim_time_cached() < tstart + timeout:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
alt = m.relative_alt / 1000.0 # mm -> m
home_distance = self.distance_to_home(use_cached_home=True)
self.progress("Alt: %.02f HomeDistance: %.02f" %
(alt, home_distance))
# recenter pitch sticks once we're home so we don't fly off again
if pitching_forward and home_distance < 50:
pitching_forward = False
self.set_rc(2, 1475)
# disable fence
self.set_parameter("FENCE_ENABLE", 0)
if (alt <= 1 and home_distance < 10) or (not self.armed() and home_distance < 10):
# reduce throttle
self.zero_throttle()
self.change_mode("LAND")
self.wait_landed_and_disarmed()
self.progress("Reached home OK")
self.zero_throttle()
return
# give we're testing RTL, doing one here probably doesn't make sense
home_distance = self.distance_to_home(use_cached_home=True)
raise AutoTestTimeoutException(
"Fence test failed to reach home (%fm distance) - "
"timed out after %u seconds" % (home_distance, timeout,))
# MaxAltFence - fly up until you hit the fence ceiling
def MaxAltFence(self):
'''Test Max Alt Fence'''
self.takeoff(10, mode="LOITER")
"""Hold loiter position."""
# enable fence, disable avoidance
self.set_parameters({
"FENCE_ENABLE": 1,
"AVOID_ENABLE": 0,
"FENCE_TYPE": 1,
})
self.change_alt(10)
# first east
self.progress("turning east")
self.set_rc(4, 1580)
self.wait_heading(160, timeout=60)
self.set_rc(4, 1500)
self.progress("flying east 20m")
self.set_rc(2, 1100)
self.wait_distance(20)
self.progress("flying up")
self.set_rc_from_map({
2: 1500,
3: 1800,
})
# wait for fence to trigger
self.wait_mode('RTL', timeout=120)
self.wait_rtl_complete()
self.zero_throttle()
# fly_alt_min_fence_test - fly down until you hit the fence floor
def MinAltFence(self):
'''Test Min Alt Fence'''
self.takeoff(30, mode="LOITER", timeout=60)
# enable fence, disable avoidance
self.set_parameters({
"AVOID_ENABLE": 0,
"FENCE_TYPE": 8,
"FENCE_ALT_MIN": 20,
})
self.change_alt(30)
# Activate the floor fence
# TODO this test should run without requiring this
self.do_fence_enable()
# first east
self.progress("turn east")
self.set_rc(4, 1580)
self.wait_heading(160, timeout=60)
self.set_rc(4, 1500)
# fly forward (east) at least 20m
self.set_rc(2, 1100)
self.wait_distance(20)
# stop flying forward and start flying down:
self.set_rc_from_map({
2: 1500,
3: 1200,
})
# wait for fence to trigger
self.wait_mode('RTL', timeout=120)
self.wait_rtl_complete()
# Disable the fence using mavlink command to ensure cleaned up SITL state
self.do_fence_disable()
self.zero_throttle()
def FenceFloorEnabledLanding(self):
"""Ensures we can initiate and complete an RTL while the fence is
enabled.
"""
fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
self.progress("Test Landing while fence floor enabled")
self.set_parameters({
"AVOID_ENABLE": 0,
"FENCE_TYPE": 15,
"FENCE_ALT_MIN": 10,
"FENCE_ALT_MAX": 20,
})
self.change_mode("GUIDED")
self.wait_ready_to_arm()
self.arm_vehicle()
self.user_takeoff(alt_min=15)
# Check fence is enabled
self.do_fence_enable()
self.assert_fence_enabled()
# Change to RC controlled mode
self.change_mode('LOITER')
self.set_rc(3, 1800)
self.wait_mode('RTL', timeout=120)
self.wait_landed_and_disarmed()
self.assert_fence_enabled()
# Assert fence is not healthy
self.assert_sensor_state(fence_bit, healthy=False)
# Disable the fence using mavlink command to ensure cleaned up SITL state
self.do_fence_disable()
self.assert_fence_disabled()
def GPSGlitchLoiter(self, timeout=30, max_distance=20):
"""fly_gps_glitch_loiter_test. Fly south east in loiter and test
reaction to gps glitch."""
self.takeoff(10, mode="LOITER")
# turn on simulator display of gps and actual position
if self.use_map:
self.show_gps_and_sim_positions(True)
# set-up gps glitch array
glitch_lat = [0.0002996,
0.0006958,
0.0009431,
0.0009991,
0.0009444,
0.0007716,
0.0006221]
glitch_lon = [0.0000717,
0.0000912,
0.0002761,
0.0002626,
0.0002807,
0.0002049,
0.0001304]
glitch_num = len(glitch_lat)
self.progress("GPS Glitches:")
for i in range(1, glitch_num):
self.progress("glitch %d %.7f %.7f" %
(i, glitch_lat[i], glitch_lon[i]))
# turn south east
self.progress("turn south east")
self.set_rc(4, 1580)
try:
self.wait_heading(150)
self.set_rc(4, 1500)
# fly forward (south east) at least 60m
self.set_rc(2, 1100)
self.wait_distance(60)
self.set_rc(2, 1500)
# wait for copter to slow down
except Exception as e:
if self.use_map:
self.show_gps_and_sim_positions(False)
raise e
# record time and position
tstart = self.get_sim_time()
tnow = tstart
start_pos = self.sim_location()
# initialise current glitch
glitch_current = 0
self.progress("Apply first glitch")
self.set_parameters({
"SIM_GPS_GLITCH_X": glitch_lat[glitch_current],
"SIM_GPS_GLITCH_Y": glitch_lon[glitch_current],
})
# record position for 30 seconds
while tnow < tstart + timeout:
tnow = self.get_sim_time_cached()
desired_glitch_num = int((tnow - tstart) * 2.2)
if desired_glitch_num > glitch_current and glitch_current != -1:
glitch_current = desired_glitch_num
# turn off glitching if we've reached the end of glitch list
if glitch_current >= glitch_num:
glitch_current = -1
self.progress("Completed Glitches")
self.set_parameters({
"SIM_GPS_GLITCH_X": 0,
"SIM_GPS_GLITCH_Y": 0,
})
else:
self.progress("Applying glitch %u" % glitch_current)
# move onto the next glitch
self.set_parameters({
"SIM_GPS_GLITCH_X": glitch_lat[glitch_current],
"SIM_GPS_GLITCH_Y": glitch_lon[glitch_current],
})
# start displaying distance moved after all glitches applied
if glitch_current == -1:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
alt = m.alt/1000.0 # mm -> m
curr_pos = self.sim_location()
moved_distance = self.get_distance(curr_pos, start_pos)
self.progress("Alt: %.02f Moved: %.0f" %
(alt, moved_distance))
if moved_distance > max_distance:
raise NotAchievedException(
"Moved over %u meters, Failed!" % max_distance)
else:
self.drain_mav()
# disable gps glitch
if glitch_current != -1:
self.set_parameters({
"SIM_GPS_GLITCH_X": 0,
"SIM_GPS_GLITCH_Y": 0,
})
if self.use_map:
self.show_gps_and_sim_positions(False)
self.progress("GPS glitch test passed!"
" stayed within %u meters for %u seconds" %
(max_distance, timeout))
self.do_RTL()
# re-arming is problematic because the GPS is glitching!
self.reboot_sitl()
def GPSGlitchLoiter2(self):
"""test vehicle handles GPS glitch (aka EKF Reset) without twitching"""
self.context_push()
self.takeoff(10, mode="LOITER")
# wait for vehicle to level
self.wait_attitude(desroll=0, despitch=0, timeout=10, tolerance=1)
# apply glitch
self.set_parameter("SIM_GPS_GLITCH_X", 0.001)
# check lean angles remain stable for 20 seconds
tstart = self.get_sim_time()
while self.get_sim_time_cached() - tstart < 20:
m = self.mav.recv_match(type='ATTITUDE', blocking=True)
roll_deg = math.degrees(m.roll)
pitch_deg = math.degrees(m.pitch)
self.progress("checking att: roll=%f pitch=%f " % (roll_deg, pitch_deg))
if abs(roll_deg) > 2 or abs(pitch_deg) > 2:
raise NotAchievedException("fly_gps_glitch_loiter_test2 failed, roll or pitch moved during GPS glitch")
# RTL, remove glitch and reboot sitl
self.do_RTL()
self.context_pop()
self.reboot_sitl()
def GPSGlitchAuto(self, timeout=180):
'''fly mission and test reaction to gps glitch'''
# set-up gps glitch array
glitch_lat = [0.0002996,
0.0006958,
0.0009431,
0.0009991,
0.0009444,
0.0007716,
0.0006221]
glitch_lon = [0.0000717,
0.0000912,
0.0002761,
0.0002626,
0.0002807,
0.0002049,
0.0001304]
glitch_num = len(glitch_lat)
self.progress("GPS Glitches:")
for i in range(1, glitch_num):
self.progress("glitch %d %.7f %.7f" %
(i, glitch_lat[i], glitch_lon[i]))
# Fly mission #1
self.progress("# Load copter_glitch_mission")
# load the waypoint count
num_wp = self.load_mission("copter_glitch_mission.txt", strict=False)
if not num_wp:
raise NotAchievedException("load copter_glitch_mission failed")
# turn on simulator display of gps and actual position
if self.use_map:
self.show_gps_and_sim_positions(True)
self.progress("test: Fly a mission from 1 to %u" % num_wp)
self.set_current_waypoint(1)
self.change_mode("STABILIZE")
self.wait_ready_to_arm()
self.zero_throttle()
self.arm_vehicle()
# switch into AUTO mode and raise throttle
self.change_mode('AUTO')
self.set_rc(3, 1500)
# wait until 100m from home
try:
self.wait_distance(100, 5, 90)
except Exception as e:
if self.use_map:
self.show_gps_and_sim_positions(False)
raise e
# record time and position
tstart = self.get_sim_time()
# initialise current glitch
glitch_current = 0
self.progress("Apply first glitch")
self.set_parameters({
"SIM_GPS_GLITCH_X": glitch_lat[glitch_current],
"SIM_GPS_GLITCH_Y": glitch_lon[glitch_current],
})
# record position for 30 seconds
while glitch_current < glitch_num:
tnow = self.get_sim_time()
desired_glitch_num = int((tnow - tstart) * 2.2)
if desired_glitch_num > glitch_current and glitch_current != -1:
glitch_current = desired_glitch_num
# apply next glitch
if glitch_current < glitch_num:
self.progress("Applying glitch %u" % glitch_current)
self.set_parameters({
"SIM_GPS_GLITCH_X": glitch_lat[glitch_current],
"SIM_GPS_GLITCH_Y": glitch_lon[glitch_current],
})
# turn off glitching
self.progress("Completed Glitches")
self.set_parameters({
"SIM_GPS_GLITCH_X": 0,
"SIM_GPS_GLITCH_Y": 0,
})
# continue with the mission
self.wait_waypoint(0, num_wp-1, timeout=500)
# wait for arrival back home
self.wait_distance_to_home(0, 10, timeout=timeout)
# turn off simulator display of gps and actual position
if self.use_map:
self.show_gps_and_sim_positions(False)
self.progress("GPS Glitch test Auto completed: passed!")
self.wait_disarmed()
# re-arming is problematic because the GPS is glitching!
self.reboot_sitl()
# fly_simple - assumes the simple bearing is initialised to be
# directly north flies a box with 100m west, 15 seconds north,
# 50 seconds east, 15 seconds south
def SimpleMode(self, side=50):
'''Fly in SIMPLE mode'''
self.takeoff(10, mode="LOITER")
# set SIMPLE mode for all flight modes
self.set_parameter("SIMPLE", 63)
# switch to stabilize mode
self.change_mode('STABILIZE')
self.set_rc(3, 1545)
# fly south 50m
self.progress("# Flying south %u meters" % side)
self.set_rc(1, 1300)
self.wait_distance(side, 5, 60)
self.set_rc(1, 1500)
# fly west 8 seconds
self.progress("# Flying west for 8 seconds")
self.set_rc(2, 1300)
tstart = self.get_sim_time()
while self.get_sim_time_cached() < (tstart + 8):
self.mav.recv_match(type='VFR_HUD', blocking=True)
self.set_rc(2, 1500)
# fly north 25 meters
self.progress("# Flying north %u meters" % (side/2.0))
self.set_rc(1, 1700)
self.wait_distance(side/2, 5, 60)
self.set_rc(1, 1500)
# fly east 8 seconds
self.progress("# Flying east for 8 seconds")
self.set_rc(2, 1700)
tstart = self.get_sim_time()
while self.get_sim_time_cached() < (tstart + 8):
self.mav.recv_match(type='VFR_HUD', blocking=True)
self.set_rc(2, 1500)
# hover in place
self.hover()
self.do_RTL(timeout=500)
# fly_super_simple - flies a circle around home for 45 seconds
def SuperSimpleCircle(self, timeout=45):
'''Fly a circle in SUPER SIMPLE mode'''
self.takeoff(10, mode="LOITER")
# fly forward 20m
self.progress("# Flying forward 20 meters")
self.set_rc(2, 1300)
self.wait_distance(20, 5, 60)
self.set_rc(2, 1500)
# set SUPER SIMPLE mode for all flight modes
self.set_parameter("SUPER_SIMPLE", 63)
# switch to stabilize mode
self.change_mode("ALT_HOLD")
self.set_rc(3, 1500)
# start copter yawing slowly
self.set_rc(4, 1550)
# roll left for timeout seconds
self.progress("# rolling left from pilot's POV for %u seconds"
% timeout)
self.set_rc(1, 1300)
tstart = self.get_sim_time()
while self.get_sim_time_cached() < (tstart + timeout):
self.mav.recv_match(type='VFR_HUD', blocking=True)
# stop rolling and yawing
self.set_rc(1, 1500)
self.set_rc(4, 1500)
# restore simple mode parameters to default
self.set_parameter("SUPER_SIMPLE", 0)
# hover in place
self.hover()
self.do_RTL()
# fly_circle - flies a circle with 20m radius
def ModeCircle(self, holdtime=36):
'''Fly CIRCLE mode'''
# the following should not be required. But there appears to
# be a physics failure in the simulation which is causing CI
# to fall over a lot. -pb 202007021209
self.reboot_sitl()
self.takeoff(10, mode="LOITER")
# face west
self.progress("turn west")
self.set_rc(4, 1580)
self.wait_heading(270)
self.set_rc(4, 1500)
# set CIRCLE radius
self.set_parameter("CIRCLE_RADIUS", 3000)
# fly forward (east) at least 100m
self.set_rc(2, 1100)
self.wait_distance(100)
# return pitch stick back to middle
self.set_rc(2, 1500)
# set CIRCLE mode
self.change_mode('CIRCLE')
# wait
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
start_altitude = m.alt
tstart = self.get_sim_time()
self.progress("Circle at %u meters for %u seconds" %
(start_altitude, holdtime))
while self.get_sim_time_cached() < tstart + holdtime:
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
self.progress("heading %d" % m.heading)
self.progress("CIRCLE OK for %u seconds" % holdtime)
self.do_RTL()
def MagFail(self):
'''test failover of compass in EKF'''
# we want both EK2 and EK3
self.set_parameters({
"EK2_ENABLE": 1,
"EK3_ENABLE": 1,
})
self.takeoff(10, mode="LOITER")
self.change_mode('CIRCLE')
self.delay_sim_time(20)
self.context_collect("STATUSTEXT")
self.progress("Failing first compass")
self.set_parameter("SIM_MAG1_FAIL", 1)
# we want for the message twice, one for EK2 and again for EK3
self.wait_statustext("EKF2 IMU0 switching to compass 1", check_context=True)
self.wait_statustext("EKF3 IMU0 switching to compass 1", check_context=True)
self.progress("compass switch 1 OK")
self.delay_sim_time(2)
self.context_clear_collection("STATUSTEXT")
self.progress("Failing 2nd compass")
self.set_parameter("SIM_MAG2_FAIL", 1)
self.wait_statustext("EKF2 IMU0 switching to compass 2", check_context=True)
self.wait_statustext("EKF3 IMU0 switching to compass 2", check_context=True)
self.progress("compass switch 2 OK")
self.delay_sim_time(2)
self.context_clear_collection("STATUSTEXT")
self.progress("Failing 3rd compass")
self.set_parameter("SIM_MAG3_FAIL", 1)
self.delay_sim_time(2)
self.set_parameter("SIM_MAG1_FAIL", 0)
self.wait_statustext("EKF2 IMU0 switching to compass 0", check_context=True)
self.wait_statustext("EKF3 IMU0 switching to compass 0", check_context=True)
self.progress("compass switch 0 OK")
self.do_RTL()
def ModeFlip(self):
'''Fly Flip Mode'''
ex = None
try:
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_ATTITUDE, 100)
self.takeoff(20)
self.hover()
old_speedup = self.get_parameter("SIM_SPEEDUP")
self.set_parameter('SIM_SPEEDUP', 1)
self.progress("Flipping in roll")
self.set_rc(1, 1700)
self.send_cmd_do_set_mode('FLIP') # don't wait for success
self.wait_attitude(despitch=0, desroll=45, tolerance=30)
self.wait_attitude(despitch=0, desroll=90, tolerance=30)
self.wait_attitude(despitch=0, desroll=-45, tolerance=30)
self.progress("Waiting for level")
self.set_rc(1, 1500) # can't change quickly enough!
self.wait_attitude(despitch=0, desroll=0, tolerance=5)
self.progress("Regaining altitude")
self.change_mode('ALT_HOLD')
self.wait_for_alt(20, max_err=40)
self.progress("Flipping in pitch")
self.set_rc(2, 1700)
self.send_cmd_do_set_mode('FLIP') # don't wait for success
self.wait_attitude(despitch=45, desroll=0, tolerance=30)
# can't check roll here as it flips from 0 to -180..
self.wait_attitude(despitch=90, tolerance=30)
self.wait_attitude(despitch=-45, tolerance=30)
self.progress("Waiting for level")
self.set_rc(2, 1500) # can't change quickly enough!
self.wait_attitude(despitch=0, desroll=0, tolerance=5)
self.set_parameter('SIM_SPEEDUP', old_speedup)
self.do_RTL()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_ATTITUDE, 0)
if ex is not None:
raise ex
def configure_EKFs_to_use_optical_flow_instead_of_GPS(self):
'''configure EKF to use optical flow instead of GPS'''
ahrs_ekf_type = self.get_parameter("AHRS_EKF_TYPE")
if ahrs_ekf_type == 2:
self.set_parameter("EK2_GPS_TYPE", 3)
if ahrs_ekf_type == 3:
self.set_parameters({
"EK3_SRC1_POSXY": 0,
"EK3_SRC1_VELXY": 5,
"EK3_SRC1_VELZ": 0,
})
def OpticalFlow(self):
'''test optical low works'''
self.start_subtest("Make sure no crash if no rangefinder")
self.set_parameter("SIM_FLOW_ENABLE", 1)
self.set_parameter("FLOW_TYPE", 10)
self.configure_EKFs_to_use_optical_flow_instead_of_GPS()
self.reboot_sitl()
self.change_mode('LOITER')
self.delay_sim_time(5)
self.wait_statustext("Need Position Estimate", timeout=300)
def OpticalFlowLimits(self):
'''test EKF navigation limiting'''
ex = None
self.context_push()
try:
self.set_parameter("SIM_FLOW_ENABLE", 1)
self.set_parameter("FLOW_TYPE", 10)
self.configure_EKFs_to_use_optical_flow_instead_of_GPS()
self.set_analog_rangefinder_parameters()
self.set_parameter("SIM_GPS_DISABLE", 1)
self.set_parameter("SIM_TERRAIN", 0)
self.reboot_sitl()
# we can't takeoff in loiter as we need flow healthy
self.takeoff(alt_min=5, mode='ALT_HOLD', require_absolute=False, takeoff_throttle=1800)
self.change_mode('LOITER')
# speed should be limited to <10m/s
self.set_rc(2, 1000)
tstart = self.get_sim_time()
timeout = 60
started_climb = False
while self.get_sim_time_cached() - tstart < timeout:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
spd = math.sqrt(m.vx**2 + m.vy**2) * 0.01
alt = m.relative_alt*0.001
# calculate max speed from altitude above the ground
margin = 2.0
max_speed = alt * 1.5 + margin
self.progress("%0.1f: Low Speed: %f (want <= %u) alt=%.1f" %
(self.get_sim_time_cached() - tstart,
spd,
max_speed, alt))
if spd > max_speed:
raise NotAchievedException(("Speed should be limited by"
"EKF optical flow limits"))
# after 30 seconds start climbing
if not started_climb and self.get_sim_time_cached() - tstart > 30:
started_climb = True
self.set_rc(3, 1900)
self.progress("Moving higher")
# check altitude is not climbing above 35m
if alt > 35:
raise NotAchievedException("Alt should be limited by EKF optical flow limits")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.set_rc(2, 1500)
self.context_pop()
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex is not None:
raise ex
def OpticalFlowCalibration(self):
'''test optical flow calibration'''
ex = None
self.context_push()
try:
self.set_parameter("SIM_FLOW_ENABLE", 1)
self.set_parameter("FLOW_TYPE", 10)
self.set_analog_rangefinder_parameters()
# RC9 starts/stops calibration
self.set_parameter("RC9_OPTION", 158)
# initialise flow scaling parameters to incorrect values
self.set_parameter("FLOW_FXSCALER", -200)
self.set_parameter("FLOW_FYSCALER", 200)
self.reboot_sitl()
# ensure calibration is off
self.set_rc(9, 1000)
# takeoff to 10m in loiter
self.takeoff(10, mode="LOITER", require_absolute=True, timeout=720)
# start calibration
self.set_rc(9, 2000)
tstart = self.get_sim_time()
timeout = 90
veh_dir_tstart = self.get_sim_time()
veh_dir = 0
while self.get_sim_time_cached() - tstart < timeout:
# roll and pitch vehicle until samples collected
# change direction of movement every 2 seconds
if self.get_sim_time_cached() - veh_dir_tstart > 2:
veh_dir_tstart = self.get_sim_time()
veh_dir = veh_dir + 1
if veh_dir > 3:
veh_dir = 0
if veh_dir == 0:
# move right
self.set_rc(1, 1800)
self.set_rc(2, 1500)
if veh_dir == 1:
# move left
self.set_rc(1, 1200)
self.set_rc(2, 1500)
if veh_dir == 2:
# move forward
self.set_rc(1, 1500)
self.set_rc(2, 1200)
if veh_dir == 3:
# move back
self.set_rc(1, 1500)
self.set_rc(2, 1800)
# return sticks to center
self.set_rc(1, 1500)
self.set_rc(2, 1500)
# stop calibration (not actually necessary)
self.set_rc(9, 1000)
# check scaling parameters have been restored to values near zero
flow_scalar_x = self.get_parameter("FLOW_FXSCALER")
flow_scalar_y = self.get_parameter("FLOW_FYSCALER")
if ((flow_scalar_x > 30) or (flow_scalar_x < -30)):
raise NotAchievedException("FlowCal failed to set FLOW_FXSCALER correctly")
if ((flow_scalar_y > 30) or (flow_scalar_y < -30)):
raise NotAchievedException("FlowCal failed to set FLOW_FYSCALER correctly")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex is not None:
raise ex
def AutoTune(self):
"""Test autotune mode"""
rlld = self.get_parameter("ATC_RAT_RLL_D")
rlli = self.get_parameter("ATC_RAT_RLL_I")
rllp = self.get_parameter("ATC_RAT_RLL_P")
self.set_parameter("ATC_RAT_RLL_SMAX", 1)
self.takeoff(10)
# hold position in loiter
self.change_mode('AUTOTUNE')
tstart = self.get_sim_time()
sim_time_expected = 5000
deadline = tstart + sim_time_expected
while self.get_sim_time_cached() < deadline:
now = self.get_sim_time_cached()
m = self.mav.recv_match(type='STATUSTEXT',
blocking=True,
timeout=1)
if m is None:
continue
self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text))
if "AutoTune: Success" in m.text:
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
# near enough for now:
self.change_mode('LAND')
self.wait_landed_and_disarmed()
# check the original gains have been re-instated
if (rlld != self.get_parameter("ATC_RAT_RLL_D") or
rlli != self.get_parameter("ATC_RAT_RLL_I") or
rllp != self.get_parameter("ATC_RAT_RLL_P")):
raise NotAchievedException("AUTOTUNE gains still present")
return
raise NotAchievedException("AUTOTUNE failed (%u seconds)" %
(self.get_sim_time() - tstart))
def AutoTuneSwitch(self):
"""Test autotune on a switch with gains being saved"""
# autotune changes a set of parameters on the vehicle which
# are not in our context. That changes the flight
# characterstics, which we can't afford between runs. So
# completely reset the simulated vehicle after the run is
# complete by "customising" the commandline here:
self.customise_SITL_commandline([])
self.context_push()
ex = None
try:
self.fly_autotune_switch_body()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
if ex is not None:
raise ex
def fly_autotune_switch_body(self):
self.set_parameters({
"RC8_OPTION": 17,
"ATC_RAT_RLL_FLTT": 20,
})
rlld = self.get_parameter("ATC_RAT_RLL_D")
rlli = self.get_parameter("ATC_RAT_RLL_I")
rllp = self.get_parameter("ATC_RAT_RLL_P")
rllt = self.get_parameter("ATC_RAT_RLL_FLTT")
self.progress("AUTOTUNE pre-gains are P:%f I:%f D:%f" %
(self.get_parameter("ATC_RAT_RLL_P"),
self.get_parameter("ATC_RAT_RLL_I"),
self.get_parameter("ATC_RAT_RLL_D")))
self.takeoff(10, mode='LOITER')
# hold position in loiter and run autotune
self.set_rc(8, 1850)
self.wait_mode('AUTOTUNE')
tstart = self.get_sim_time()
sim_time_expected = 5000
deadline = tstart + sim_time_expected
while self.get_sim_time_cached() < deadline:
now = self.get_sim_time_cached()
m = self.mav.recv_match(type='STATUSTEXT',
blocking=True,
timeout=1)
if m is None:
continue
self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text))
if "AutoTune: Success" in m.text:
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
# Check original gains are re-instated
self.set_rc(8, 1100)
self.delay_sim_time(1)
self.progress("AUTOTUNE original gains are P:%f I:%f D:%f" %
(self.get_parameter("ATC_RAT_RLL_P"), self.get_parameter("ATC_RAT_RLL_I"),
self.get_parameter("ATC_RAT_RLL_D")))
if (rlld != self.get_parameter("ATC_RAT_RLL_D") or
rlli != self.get_parameter("ATC_RAT_RLL_I") or
rllp != self.get_parameter("ATC_RAT_RLL_P")):
raise NotAchievedException("AUTOTUNE gains still present")
# Use autotuned gains
self.set_rc(8, 1850)
self.delay_sim_time(1)
self.progress("AUTOTUNE testing gains are P:%f I:%f D:%f" %
(self.get_parameter("ATC_RAT_RLL_P"), self.get_parameter("ATC_RAT_RLL_I"),
self.get_parameter("ATC_RAT_RLL_D")))
if (rlld == self.get_parameter("ATC_RAT_RLL_D") or
rlli == self.get_parameter("ATC_RAT_RLL_I") or
rllp == self.get_parameter("ATC_RAT_RLL_P")):
raise NotAchievedException("AUTOTUNE gains not present in pilot testing")
# land without changing mode
self.set_rc(3, 1000)
self.wait_for_alt(0)
self.wait_disarmed()
# Check gains are still there after disarm
if (rlld == self.get_parameter("ATC_RAT_RLL_D") or
rlli == self.get_parameter("ATC_RAT_RLL_I") or
rllp == self.get_parameter("ATC_RAT_RLL_P")):
raise NotAchievedException("AUTOTUNE gains not present on disarm")
self.reboot_sitl()
# Check gains are still there after reboot
if (rlld == self.get_parameter("ATC_RAT_RLL_D") or
rlli == self.get_parameter("ATC_RAT_RLL_I") or
rllp == self.get_parameter("ATC_RAT_RLL_P")):
raise NotAchievedException("AUTOTUNE gains not present on reboot")
# Check FLTT is unchanged
if rllt != self.get_parameter("ATC_RAT_RLL_FLTT"):
raise NotAchievedException("AUTOTUNE FLTT was modified")
return
raise NotAchievedException("AUTOTUNE failed (%u seconds)" %
(self.get_sim_time() - tstart))
def CopterMission(self):
'''fly mission which tests a significant number of commands'''
# Fly mission #1
self.progress("# Load copter_mission")
# load the waypoint count
num_wp = self.load_mission("copter_mission.txt", strict=False)
if not num_wp:
raise NotAchievedException("load copter_mission failed")
self.fly_loaded_mission(num_wp)
self.progress("Auto mission completed: passed!")
def fly_loaded_mission(self, num_wp):
'''fly mission loaded on vehicle. FIXME: get num_wp from vehicle'''
self.progress("test: Fly a mission from 1 to %u" % num_wp)
self.set_current_waypoint(1)
self.change_mode("LOITER")
self.wait_ready_to_arm()
self.arm_vehicle()
# 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")
def CANGPSCopterMission(self):
'''fly mission which tests normal operation alongside CAN GPS'''
self.set_parameters({
"CAN_P1_DRIVER": 1,
"GPS_TYPE": 9,
"GPS_TYPE2": 9,
"SIM_GPS2_DISABLE": 0,
})
self.context_push()
self.set_parameter("ARMING_CHECK", 1 << 3)
self.context_collect('STATUSTEXT')
self.reboot_sitl()
# Test UAVCAN GPS ordering working
gps1_det_text = self.wait_text("GPS 1: specified as UAVCAN.*", regex=True, check_context=True)
gps2_det_text = self.wait_text("GPS 2: specified as UAVCAN.*", regex=True, check_context=True)
gps1_nodeid = int(gps1_det_text.split('-')[1])
gps2_nodeid = int(gps2_det_text.split('-')[1])
if gps1_nodeid is None or gps2_nodeid is None:
raise NotAchievedException("GPS not ordered per the order of Node IDs")
self.context_stop_collecting('STATUSTEXT')
GPS_Order_Tests = [[gps2_nodeid, gps2_nodeid, gps2_nodeid, 0,
"PreArm: Same Node Id {} set for multiple GPS".format(gps2_nodeid)],
[gps1_nodeid, int(gps2_nodeid/2), gps1_nodeid, 0,
"Selected GPS Node {} not set as instance {}".format(int(gps2_nodeid/2), 2)],
[int(gps1_nodeid/2), gps2_nodeid, 0, gps2_nodeid,
"Selected GPS Node {} not set as instance {}".format(int(gps1_nodeid/2), 1)],
[gps1_nodeid, gps2_nodeid, gps1_nodeid, gps2_nodeid, ""],
[gps2_nodeid, gps1_nodeid, gps2_nodeid, gps1_nodeid, ""],
[gps1_nodeid, 0, gps1_nodeid, gps2_nodeid, ""],
[0, gps2_nodeid, gps1_nodeid, gps2_nodeid, ""]]
for case in GPS_Order_Tests:
self.progress("############################### Trying Case: " + str(case))
self.set_parameters({
"GPS1_CAN_OVRIDE": case[0],
"GPS2_CAN_OVRIDE": case[1],
})
self.drain_mav()
self.context_collect('STATUSTEXT')
self.reboot_sitl()
gps1_det_text = None
gps2_det_text = None
try:
gps1_det_text = self.wait_text("GPS 1: specified as UAVCAN.*", regex=True, check_context=True)
except AutoTestTimeoutException:
pass
try:
gps2_det_text = self.wait_text("GPS 2: specified as UAVCAN.*", regex=True, check_context=True)
except AutoTestTimeoutException:
pass
self.context_stop_collecting('STATUSTEXT')
self.change_mode('LOITER')
if case[2] == 0 and case[3] == 0:
if gps1_det_text or gps2_det_text:
raise NotAchievedException("Failed ordering for requested CASE:", case)
if case[2] == 0 or case[3] == 0:
if bool(gps1_det_text is not None) == bool(gps2_det_text is not None):
print(gps1_det_text)
print(gps2_det_text)
raise NotAchievedException("Failed ordering for requested CASE:", case)
if gps1_det_text:
if case[2] != int(gps1_det_text.split('-')[1]):
raise NotAchievedException("Failed ordering for requested CASE:", case)
if gps2_det_text:
if case[3] != int(gps2_det_text.split('-')[1]):
raise NotAchievedException("Failed ordering for requested CASE:", case)
if len(case[4]):
self.context_collect('STATUSTEXT')
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0,
timeout=10,
want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.wait_statustext(case[4], check_context=True)
self.context_stop_collecting('STATUSTEXT')
self.progress("############################### All GPS Order Cases Tests Passed")
self.progress("############################### Test Healthy Prearm check")
self.set_parameter("ARMING_CHECK", 1)
self.stop_sup_program(instance=0)
self.start_sup_program(instance=0, args="-M")
self.delay_sim_time(2)
self.context_collect('STATUSTEXT')
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0,
timeout=10,
want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.wait_statustext("Node {} unhealthy".format(gps1_nodeid), check_context=True)
self.stop_sup_program(instance=0)
self.start_sup_program(instance=0)
self.context_stop_collecting('STATUSTEXT')
self.context_pop()
self.CopterMission()
def TakeoffAlt(self):
'''Test Takeoff command altitude'''
# Test case #1 (set target altitude to relative -10m from the ground, -10m is invalid, so it is set to 1m)
self.progress("Testing relative alt from the ground")
self.do_takeoff_alt("copter_takeoff.txt", 1, False)
# Test case #2 (set target altitude to relative -10m during flight, -10m is invalid, so keeps current altitude)
self.progress("Testing relative alt during flight")
self.do_takeoff_alt("copter_takeoff.txt", 10, True)
self.progress("Takeoff mission completed: passed!")
def do_takeoff_alt(self, mission_file, target_alt, during_flight=False):
self.progress("# Load %s" % mission_file)
# load the waypoint count
num_wp = self.load_mission(mission_file, strict=False)
if not num_wp:
raise NotAchievedException("load %s failed" % mission_file)
self.set_current_waypoint(1)
self.change_mode("GUIDED")
self.wait_ready_to_arm()
self.arm_vehicle()
if during_flight:
self.user_takeoff(alt_min=target_alt)
# 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)
# altitude check
self.wait_altitude(target_alt - 1 , target_alt + 1, relative=True)
self.change_mode('LAND')
# set throttle to minimum
self.zero_throttle()
# wait for disarm
self.wait_disarmed()
self.progress("MOTORS DISARMED OK")
def MotorFail(self, fail_servo=0, fail_mul=0.0, holdtime=30):
"""Test flight with reduced motor efficiency"""
# we only expect an octocopter to survive ATM:
servo_counts = {
# 2: 6, # hexa
3: 8, # octa
# 5: 6, # Y6
}
frame_class = int(self.get_parameter("FRAME_CLASS"))
if frame_class not in servo_counts:
self.progress("Test not relevant for frame_class %u" % frame_class)
return
servo_count = servo_counts[frame_class]
if fail_servo < 0 or fail_servo > servo_count:
raise ValueError('fail_servo outside range for frame class')
self.takeoff(10, mode="LOITER")
self.change_alt(alt_min=50)
# Get initial values
start_hud = self.mav.recv_match(type='VFR_HUD', blocking=True)
start_attitude = self.mav.recv_match(type='ATTITUDE', blocking=True)
hover_time = 5
try:
tstart = self.get_sim_time()
int_error_alt = 0
int_error_yaw_rate = 0
int_error_yaw = 0
self.progress("Hovering for %u seconds" % hover_time)
failed = False
while True:
now = self.get_sim_time_cached()
if now - tstart > holdtime + hover_time:
break
servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW',
blocking=True)
hud = self.mav.recv_match(type='VFR_HUD', blocking=True)
attitude = self.mav.recv_match(type='ATTITUDE', blocking=True)
if not failed and now - tstart > hover_time:
self.progress("Killing motor %u (%u%%)" %
(fail_servo+1, fail_mul))
self.set_parameters({
"SIM_ENGINE_FAIL": fail_servo,
"SIM_ENGINE_MUL": fail_mul,
})
failed = True
if failed:
self.progress("Hold Time: %f/%f" % (now-tstart, holdtime))
servo_pwm = [servo.servo1_raw,
servo.servo2_raw,
servo.servo3_raw,
servo.servo4_raw,
servo.servo5_raw,
servo.servo6_raw,
servo.servo7_raw,
servo.servo8_raw]
self.progress("PWM output per motor")
for i, pwm in enumerate(servo_pwm[0:servo_count]):
if pwm > 1900:
state = "oversaturated"
elif pwm < 1200:
state = "undersaturated"
else:
state = "OK"
if failed and i == fail_servo:
state += " (failed)"
self.progress("servo %u [pwm=%u] [%s]" % (i+1, pwm, state))
alt_delta = hud.alt - start_hud.alt
yawrate_delta = attitude.yawspeed - start_attitude.yawspeed
yaw_delta = attitude.yaw - start_attitude.yaw
self.progress("Alt=%fm (delta=%fm)" % (hud.alt, alt_delta))
self.progress("Yaw rate=%f (delta=%f) (rad/s)" %
(attitude.yawspeed, yawrate_delta))
self.progress("Yaw=%f (delta=%f) (deg)" %
(attitude.yaw, yaw_delta))
dt = self.get_sim_time() - now
int_error_alt += abs(alt_delta/dt)
int_error_yaw_rate += abs(yawrate_delta/dt)
int_error_yaw += abs(yaw_delta/dt)
self.progress("## Error Integration ##")
self.progress(" Altitude: %fm" % int_error_alt)
self.progress(" Yaw rate: %f rad/s" % int_error_yaw_rate)
self.progress(" Yaw: %f deg" % int_error_yaw)
self.progress("----")
if int_error_yaw_rate > 0.1:
raise NotAchievedException("Vehicle is spinning")
if alt_delta < -20:
raise NotAchievedException("Vehicle is descending")
self.set_parameters({
"SIM_ENGINE_FAIL": 0,
"SIM_ENGINE_MUL": 1.0,
})
except Exception as e:
self.set_parameters({
"SIM_ENGINE_FAIL": 0,
"SIM_ENGINE_MUL": 1.0,
})
raise e
self.do_RTL()
def hover_for_interval(self, hover_time):
'''hovers for an interval of hover_time seconds. Returns the bookend
times for that interval (in time-since-boot frame), and the
output throttle level at the end of the period.
'''
self.progress("Hovering for %u seconds" % hover_time)
tstart = self.get_sim_time()
self.delay_sim_time(hover_time, reason='data collection')
vfr_hud = self.poll_message('VFR_HUD')
tend = self.get_sim_time()
return tstart, tend, vfr_hud.throttle
def MotorVibration(self):
"""Test flight with motor vibration"""
self.context_push()
ex = None
try:
self.set_rc_default()
# magic tridge EKF type that dramatically speeds up the test
self.set_parameters({
"AHRS_EKF_TYPE": 10,
"INS_LOG_BAT_MASK": 3,
"INS_LOG_BAT_OPT": 0,
"LOG_BITMASK": 958,
"LOG_DISARMED": 0,
"SIM_VIB_MOT_MAX": 350,
# these are real values taken from a 180mm Quad:
"SIM_GYR1_RND": 20,
"SIM_ACC1_RND": 5,
"SIM_ACC2_RND": 5,
"SIM_INS_THR_MIN": 0.1,
})
self.reboot_sitl()
# do a simple up-and-down flight to gather data:
self.takeoff(15, mode="ALT_HOLD")
tstart, tend, hover_throttle = self.hover_for_interval(15)
# if we don't reduce vibes here then the landing detector
# may not trigger
self.set_parameter("SIM_VIB_MOT_MAX", 0)
self.do_RTL()
psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
# ignore the first 20Hz and look for a peak at -15dB or more
ignore_bins = 20
freq = psd["F"][numpy.argmax(psd["X"][ignore_bins:]) + ignore_bins]
if numpy.amax(psd["X"][ignore_bins:]) < -15 or freq < 180 or freq > 300:
raise NotAchievedException(
"Did not detect a motor peak, found %f at %f dB" %
(freq, numpy.amax(psd["X"][ignore_bins:])))
else:
self.progress("Detected motor peak at %fHz" % freq)
# now add a notch and check that post-filter the peak is squashed below 40dB
self.set_parameters({
"INS_LOG_BAT_OPT": 2,
"INS_HNTC2_ENABLE": 1,
"INS_HNTC2_FREQ": freq,
"INS_HNTC2_ATT": 50,
"INS_HNTC2_BW": freq/2,
"INS_HNTC2_MODE": 0,
"SIM_VIB_MOT_MAX": 350,
})
self.reboot_sitl()
# do a simple up-and-down flight to gather data:
self.takeoff(15, mode="ALT_HOLD")
tstart, tend, hover_throttle = self.hover_for_interval(15)
self.set_parameter("SIM_VIB_MOT_MAX", 0)
self.do_RTL()
psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
freq = psd["F"][numpy.argmax(psd["X"][ignore_bins:]) + ignore_bins]
peakdB = numpy.amax(psd["X"][ignore_bins:])
if peakdB < -23:
self.progress("Did not detect a motor peak, found %f at %f dB" % (freq, peakdB))
else:
raise NotAchievedException("Detected peak %.1f Hz %.2f dB" % (freq, peakdB))
except Exception as e:
self.print_exception_caught(e)
ex = e
self.disarm_vehicle(force=True)
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def VisionPosition(self):
"""Disable GPS navigation, enable Vicon input."""
# scribble down a location we can set origin to:
self.customise_SITL_commandline(["--uartF=sim:vicon:"])
self.progress("Waiting for location")
self.change_mode('LOITER')
self.wait_ready_to_arm()
old_pos = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
print("old_pos=%s" % str(old_pos))
self.context_push()
ex = None
try:
# configure EKF to use external nav instead of GPS
ahrs_ekf_type = self.get_parameter("AHRS_EKF_TYPE")
if ahrs_ekf_type == 2:
self.set_parameter("EK2_GPS_TYPE", 3)
if ahrs_ekf_type == 3:
self.set_parameters({
"EK3_SRC1_POSXY": 6,
"EK3_SRC1_VELXY": 6,
"EK3_SRC1_POSZ": 6,
"EK3_SRC1_VELZ": 6,
})
self.set_parameters({
"GPS_TYPE": 0,
"VISO_TYPE": 1,
"SERIAL5_PROTOCOL": 1,
})
self.reboot_sitl()
# without a GPS or some sort of external prompting, AP
# doesn't send system_time messages. So prompt it:
self.mav.mav.system_time_send(int(time.time() * 1000000), 0)
self.progress("Waiting for non-zero-lat")
tstart = self.get_sim_time()
while True:
self.mav.mav.set_gps_global_origin_send(1,
old_pos.lat,
old_pos.lon,
old_pos.alt)
gpi = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
self.progress("gpi=%s" % str(gpi))
if gpi.lat != 0:
break
if self.get_sim_time_cached() - tstart > 60:
raise AutoTestTimeoutException("Did not get non-zero lat")
self.takeoff()
self.set_rc(1, 1600)
tstart = self.get_sim_time()
while True:
vicon_pos = self.mav.recv_match(type='VISION_POSITION_ESTIMATE',
blocking=True)
# print("vpe=%s" % str(vicon_pos))
self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
# self.progress("gpi=%s" % str(gpi))
if vicon_pos.x > 40:
break
if self.get_sim_time_cached() - tstart > 100:
raise AutoTestTimeoutException("Vicon showed no movement")
# recenter controls:
self.set_rc(1, 1500)
self.progress("# Enter RTL")
self.change_mode('RTL')
self.set_rc(3, 1500)
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 200:
raise NotAchievedException("Did not disarm")
self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
# print("gpi=%s" % str(gpi))
self.mav.recv_match(type='SIMSTATE',
blocking=True)
# print("ss=%s" % str(ss))
# wait for RTL disarm:
if not self.armed():
break
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.zero_throttle()
self.reboot_sitl()
if ex is not None:
raise ex
def BodyFrameOdom(self):
"""Disable GPS navigation, enable input of VISION_POSITION_DELTA."""
if self.get_parameter("AHRS_EKF_TYPE") != 3:
# only tested on this EKF
return
self.customise_SITL_commandline(["--uartF=sim:vicon:"])
if self.current_onboard_log_contains_message("XKFD"):
raise NotAchievedException("Found unexpected XKFD message")
# scribble down a location we can set origin to:
self.progress("Waiting for location")
self.change_mode('LOITER')
self.wait_ready_to_arm()
old_pos = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
print("old_pos=%s" % str(old_pos))
# configure EKF to use external nav instead of GPS
self.set_parameters({
"EK3_SRC1_POSXY": 6,
"EK3_SRC1_VELXY": 6,
"EK3_SRC1_POSZ": 6,
"EK3_SRC1_VELZ": 6,
"GPS_TYPE": 0,
"VISO_TYPE": 1,
"SERIAL5_PROTOCOL": 1,
"SIM_VICON_TMASK": 8, # send VISION_POSITION_DELTA
})
self.reboot_sitl()
# without a GPS or some sort of external prompting, AP
# doesn't send system_time messages. So prompt it:
self.mav.mav.system_time_send(int(time.time() * 1000000), 0)
self.progress("Waiting for non-zero-lat")
tstart = self.get_sim_time()
while True:
self.mav.mav.set_gps_global_origin_send(1,
old_pos.lat,
old_pos.lon,
old_pos.alt)
gpi = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
self.progress("gpi=%s" % str(gpi))
if gpi.lat != 0:
break
if self.get_sim_time_cached() - tstart > 60:
raise AutoTestTimeoutException("Did not get non-zero lat")
self.takeoff(alt_min=5, mode='ALT_HOLD', require_absolute=False, takeoff_throttle=1800)
self.change_mode('LAND')
# TODO: something more elaborate here - EKF will only aid
# relative position
self.wait_disarmed()
if not self.current_onboard_log_contains_message("XKFD"):
raise NotAchievedException("Did not find expected XKFD message")
def GPSViconSwitching(self):
"""Fly GPS and Vicon switching test"""
self.customise_SITL_commandline(["--uartF=sim:vicon:"])
"""Setup parameters including switching to EKF3"""
self.context_push()
ex = None
try:
self.set_parameters({
"VISO_TYPE": 2, # enable vicon
"SERIAL5_PROTOCOL": 2,
"EK3_ENABLE": 1,
"EK3_SRC2_POSXY": 6, # External Nav
"EK3_SRC2_POSZ": 6, # External Nav
"EK3_SRC2_VELXY": 6, # External Nav
"EK3_SRC2_VELZ": 6, # External Nav
"EK3_SRC2_YAW": 6, # External Nav
"RC7_OPTION": 80, # RC aux switch 7 set to Viso Align
"RC8_OPTION": 90, # RC aux switch 8 set to EKF source selector
"EK2_ENABLE": 0,
"AHRS_EKF_TYPE": 3,
})
self.reboot_sitl()
# switch to use GPS
self.set_rc(8, 1000)
# ensure we can get a global position:
self.poll_home_position(timeout=120)
# record starting position
old_pos = self.get_global_position_int()
print("old_pos=%s" % str(old_pos))
# align vicon yaw with ahrs heading
self.set_rc(7, 2000)
# takeoff to 10m in Loiter
self.progress("Moving to ensure location is tracked")
self.takeoff(10, mode="LOITER", require_absolute=True, timeout=720)
# fly forward in Loiter
self.set_rc(2, 1300)
# disable vicon
self.set_parameter("SIM_VICON_FAIL", 1)
# ensure vehicle remain in Loiter for 15 seconds
tstart = self.get_sim_time()
while self.get_sim_time() - tstart < 15:
if not self.mode_is('LOITER'):
raise NotAchievedException("Expected to stay in loiter for >15 seconds")
# re-enable vicon
self.set_parameter("SIM_VICON_FAIL", 0)
# switch to vicon, disable GPS and wait 10sec to ensure vehicle remains in Loiter
self.set_rc(8, 1500)
self.set_parameter("GPS_TYPE", 0)
# ensure vehicle remain in Loiter for 15 seconds
tstart = self.get_sim_time()
while self.get_sim_time() - tstart < 15:
if not self.mode_is('LOITER'):
raise NotAchievedException("Expected to stay in loiter for >15 seconds")
# RTL and check vehicle arrives within 10m of home
self.set_rc(2, 1500)
self.do_RTL()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex is not None:
raise ex
def RTLSpeed(self):
"""Test RTL Speed parameters"""
rtl_speed_ms = 7
wpnav_speed_ms = 4
wpnav_accel_mss = 3
tolerance = 0.5
self.load_mission("copter_rtl_speed.txt")
self.set_parameters({
'WPNAV_ACCEL': wpnav_accel_mss * 100,
'RTL_SPEED': rtl_speed_ms * 100,
'WPNAV_SPEED': wpnav_speed_ms * 100,
})
self.change_mode('LOITER')
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('AUTO')
self.set_rc(3, 1600)
self.wait_altitude(19, 25, relative=True)
self.wait_groundspeed(wpnav_speed_ms-tolerance, wpnav_speed_ms+tolerance)
self.monitor_groundspeed(wpnav_speed_ms, timeout=20)
self.change_mode('RTL')
self.wait_groundspeed(rtl_speed_ms-tolerance, rtl_speed_ms+tolerance)
self.monitor_groundspeed(rtl_speed_ms, timeout=5)
self.change_mode('AUTO')
self.wait_groundspeed(0-tolerance, 0+tolerance)
self.wait_groundspeed(wpnav_speed_ms-tolerance, wpnav_speed_ms+tolerance)
self.monitor_groundspeed(wpnav_speed_ms, tolerance=0.6, timeout=5)
self.do_RTL()
def NavDelay(self):
"""Fly a simple mission that has a delay in it."""
self.load_mission("copter_nav_delay.txt")
self.set_parameter("DISARM_DELAY", 0)
self.change_mode("LOITER")
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode("AUTO")
self.set_rc(3, 1600)
count_start = -1
count_stop = -1
tstart = self.get_sim_time()
last_mission_current_msg = 0
last_seq = None
while self.armed(): # we RTL at end of mission
now = self.get_sim_time_cached()
if now - tstart > 200:
raise AutoTestTimeoutException("Did not disarm as expected")
m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
at_delay_item = ""
if m.seq == 3:
at_delay_item = "(At delay item)"
if count_start == -1:
count_start = now
if ((now - last_mission_current_msg) > 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 %s" %
(m.seq, dist, at_delay_item))
last_mission_current_msg = self.get_sim_time_cached()
last_seq = m.seq
if m.seq > 3:
if count_stop == -1:
count_stop = now
calculated_delay = count_stop - count_start
want_delay = 59 # should reflect what's in the mission file
self.progress("Stopped for %u seconds (want >=%u seconds)" %
(calculated_delay, want_delay))
if calculated_delay < want_delay:
raise NotAchievedException("Did not delay for long enough")
def RangeFinder(self):
'''Test RangeFinder Basic Functionality'''
ex = None
self.context_push()
self.progress("Making sure we don't ordinarily get RANGEFINDER")
m = self.mav.recv_match(type='RANGEFINDER',
blocking=True,
timeout=5)
if m is not None:
raise NotAchievedException("Received unexpected RANGEFINDER msg")
# may need to force a rotation if some other test has used the
# rangefinder...
self.progress("Ensure no RFND messages in log")
self.set_parameter("LOG_DISARMED", 1)
if self.current_onboard_log_contains_message("RFND"):
raise NotAchievedException("Found unexpected RFND message")
try:
self.set_analog_rangefinder_parameters()
self.set_parameter("RC9_OPTION", 10) # rangefinder
self.set_rc(9, 2000)
self.reboot_sitl()
self.progress("Making sure we now get RANGEFINDER messages")
m = self.assert_receive_message('RANGEFINDER', timeout=10)
self.progress("Checking RangeFinder is marked as enabled in mavlink")
m = self.mav.recv_match(type='SYS_STATUS',
blocking=True,
timeout=10)
flags = m.onboard_control_sensors_enabled
if not flags & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION:
raise NotAchievedException("Laser not enabled in SYS_STATUS")
self.progress("Disabling laser using switch")
self.set_rc(9, 1000)
self.delay_sim_time(1)
self.progress("Checking RangeFinder is marked as disabled in mavlink")
m = self.mav.recv_match(type='SYS_STATUS',
blocking=True,
timeout=10)
flags = m.onboard_control_sensors_enabled
if flags & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION:
raise NotAchievedException("Laser enabled in SYS_STATUS")
self.progress("Re-enabling rangefinder")
self.set_rc(9, 2000)
self.delay_sim_time(1)
m = self.mav.recv_match(type='SYS_STATUS',
blocking=True,
timeout=10)
flags = m.onboard_control_sensors_enabled
if not flags & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION:
raise NotAchievedException("Laser not enabled in SYS_STATUS")
self.takeoff(10, mode="LOITER")
m_r = self.mav.recv_match(type='RANGEFINDER',
blocking=True)
m_p = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
if abs(m_r.distance - m_p.relative_alt/1000) > 1:
raise NotAchievedException(
"rangefinder/global position int mismatch %0.2f vs %0.2f" %
(m_r.distance, m_p.relative_alt/1000))
self.land_and_disarm()
if not self.current_onboard_log_contains_message("RFND"):
raise NotAchievedException("Did not see expected RFND message")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def SplineTerrain(self):
'''Test Splines and Terrain'''
self.set_parameter("TERRAIN_ENABLE", 0)
self.fly_mission("wp.txt")
def WPNAV_SPEED(self):
'''ensure resetting WPNAV_SPEED during a mission works'''
loc = self.poll_home_position()
alt = 20
loc.alt = alt
items = []
# 100 waypoints in a line, 10m apart in a northerly direction
# for i in range(1, 100):
# items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, i*10, 0, alt))
# 1 waypoint a long way away
items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, alt),)
items.append((mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0))
self.upload_simple_relhome_mission(items)
start_speed_ms = self.get_parameter('WPNAV_SPEED') / 100.0
self.takeoff(20)
self.change_mode('AUTO')
self.wait_groundspeed(start_speed_ms-1, start_speed_ms+1, minimum_duration=10)
for speed_ms in 7, 8, 7, 8, 9, 10, 11, 7:
self.set_parameter('WPNAV_SPEED', speed_ms*100)
self.wait_groundspeed(speed_ms-1, speed_ms+1, minimum_duration=10)
self.do_RTL()
def WPNAV_SPEED_UP(self):
'''Change speed (up) during mission'''
items = []
# 1 waypoint a long way up
items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 20000),)
items.append((mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0))
self.upload_simple_relhome_mission(items)
start_speed_ms = self.get_parameter('WPNAV_SPEED_UP') / 100.0
minimum_duration = 5
self.takeoff(20)
self.change_mode('AUTO')
self.wait_climbrate(start_speed_ms-1, start_speed_ms+1, minimum_duration=minimum_duration)
for speed_ms in 7, 8, 7, 8, 6, 2:
self.set_parameter('WPNAV_SPEED_UP', speed_ms*100)
self.wait_climbrate(speed_ms-1, speed_ms+1, minimum_duration=minimum_duration)
self.do_RTL(timeout=240)
def WPNAV_SPEED_DN(self):
'''Change speed (down) during mission'''
items = []
# 1 waypoint a long way back down
items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 10),)
items.append((mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0))
self.upload_simple_relhome_mission(items)
minimum_duration = 5
self.takeoff(500, timeout=60)
self.change_mode('AUTO')
start_speed_ms = self.get_parameter('WPNAV_SPEED_DN') / 100.0
self.wait_climbrate(-start_speed_ms-1, -start_speed_ms+1, minimum_duration=minimum_duration)
for speed_ms in 7, 8, 7, 8, 6, 2:
self.set_parameter('WPNAV_SPEED_DN', speed_ms*100)
self.wait_climbrate(-speed_ms-1, -speed_ms+1, minimum_duration=minimum_duration)
self.do_RTL()
def fly_mission(self, filename, strict=True):
num_wp = self.load_mission(filename, strict=strict)
self.set_parameter("AUTO_OPTIONS", 3)
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_waypoint(num_wp-1, num_wp-1)
self.wait_disarmed()
def SurfaceTracking(self):
'''Test Surface Tracking'''
ex = None
self.context_push()
self.install_terrain_handlers_context()
try:
self.set_analog_rangefinder_parameters()
self.set_parameter("RC9_OPTION", 10) # rangefinder
self.set_rc(9, 2000)
self.reboot_sitl() # needed for both rangefinder and initial position
self.assert_vehicle_location_is_at_startup_location()
self.takeoff(10, mode="LOITER")
lower_surface_pos = mavutil.location(-35.362421, 149.164534, 584, 270)
here = self.mav.location()
bearing = self.get_bearing(here, lower_surface_pos)
self.change_mode("GUIDED")
self.guided_achieve_heading(bearing)
self.change_mode("LOITER")
self.delay_sim_time(2)
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
orig_absolute_alt_mm = m.alt
self.progress("Original alt: absolute=%f" % orig_absolute_alt_mm)
self.progress("Flying somewhere which surface is known lower compared to takeoff point")
self.set_rc(2, 1450)
tstart = self.get_sim_time()
while True:
if self.get_sim_time() - tstart > 200:
raise NotAchievedException("Did not reach lower point")
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
x = mavutil.location(m.lat/1e7, m.lon/1e7, m.alt/1e3, 0)
dist = self.get_distance(x, lower_surface_pos)
delta = (orig_absolute_alt_mm - m.alt)/1000.0
self.progress("Distance: %fm abs-alt-delta: %fm" %
(dist, delta))
if dist < 15:
if delta < 0.8:
raise NotAchievedException("Did not dip in altitude as expected")
break
self.set_rc(2, 1500)
self.do_RTL()
except Exception as e:
self.print_exception_caught(e)
self.disarm_vehicle(force=True)
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def test_rangefinder_switchover(self):
"""test that the EKF correctly handles the switchover between baro and rangefinder"""
ex = None
self.context_push()
try:
self.set_analog_rangefinder_parameters()
self.set_parameters({
"RNGFND1_MAX_CM": 1500
})
# configure EKF to use rangefinder for altitude at low altitudes
ahrs_ekf_type = self.get_parameter("AHRS_EKF_TYPE")
if ahrs_ekf_type == 2:
self.set_parameter("EK2_RNG_USE_HGT", 70)
if ahrs_ekf_type == 3:
self.set_parameter("EK3_RNG_USE_HGT", 70)
self.reboot_sitl() # needed for both rangefinder and initial position
self.assert_vehicle_location_is_at_startup_location()
self.change_mode("LOITER")
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(3, 1800)
self.set_rc(2, 1200)
# wait till we get to 50m
self.wait_altitude(50, 52, True, 60)
self.change_mode("RTL")
# wait till we get to 25m
self.wait_altitude(25, 27, True, 120)
# level up
self.set_rc(2, 1500)
self.wait_altitude(14, 15, relative=True)
self.wait_rtl_complete()
except Exception as e:
self.print_exception_caught(e)
self.disarm_vehicle(force=True)
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def Parachute(self):
'''Test Parachute Functionality'''
self.set_rc(9, 1000)
self.set_parameters({
"CHUTE_ENABLED": 1,
"CHUTE_TYPE": 10,
"SERVO9_FUNCTION": 27,
"SIM_PARA_ENABLE": 1,
"SIM_PARA_PIN": 9,
})
self.progress("Test triggering parachute in mission")
self.load_mission("copter_parachute_mission.txt")
self.change_mode('LOITER')
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('AUTO')
self.set_rc(3, 1600)
self.wait_statustext('BANG', timeout=60)
self.disarm_vehicle(force=True)
self.reboot_sitl()
self.progress("Test triggering with mavlink message")
self.takeoff(20)
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_PARACHUTE,
2, # release
0,
0,
0,
0,
0,
0)
self.wait_statustext('BANG', timeout=60)
self.disarm_vehicle(force=True)
self.reboot_sitl()
self.progress("Testing three-position switch")
self.set_parameter("RC9_OPTION", 23) # parachute 3pos
self.progress("Test manual triggering")
self.takeoff(20)
self.set_rc(9, 2000)
self.wait_statustext('BANG', timeout=60)
self.set_rc(9, 1000)
self.disarm_vehicle(force=True)
self.reboot_sitl()
self.progress("Test mavlink triggering")
self.takeoff(20)
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_PARACHUTE,
mavutil.mavlink.PARACHUTE_DISABLE, # param1
0, # param2
0, # param3
0, # param4
0, # param5
0, # param6
0 # param7
)
ok = False
try:
self.wait_statustext('BANG', timeout=2)
except AutoTestTimeoutException:
ok = True
if not ok:
raise NotAchievedException("Disabled parachute fired")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_PARACHUTE,
mavutil.mavlink.PARACHUTE_ENABLE, # param1
0, # param2
0, # param3
0, # param4
0, # param5
0, # param6
0 # param7
)
ok = False
try:
self.wait_statustext('BANG', timeout=2)
except AutoTestTimeoutException:
ok = True
if not ok:
raise NotAchievedException("Enabled parachute fired")
self.set_rc(9, 1000)
self.disarm_vehicle(force=True)
self.reboot_sitl()
# parachute should not fire if you go from disabled to release:
self.takeoff(20)
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_PARACHUTE,
mavutil.mavlink.PARACHUTE_RELEASE,
0, # param2
0, # param3
0, # param4
0, # param5
0, # param6
0 # param7
)
ok = False
try:
self.wait_statustext('BANG', timeout=2)
except AutoTestTimeoutException:
ok = True
if not ok:
raise NotAchievedException("Parachute fired when going straight from disabled to release")
# now enable then release parachute:
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_PARACHUTE,
mavutil.mavlink.PARACHUTE_ENABLE, # param1
0, # param2
0, # param3
0, # param4
0, # param5
0, # param6
0 # param7
)
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_PARACHUTE,
mavutil.mavlink.PARACHUTE_RELEASE,
0, # param2
0, # param3
0, # param4
0, # param5
0, # param6
0 # param7
)
self.wait_statustext('BANG! Parachute deployed', timeout=2)
self.disarm_vehicle(force=True)
self.reboot_sitl()
self.context_push()
self.progress("Crashing with 3pos switch in enable position")
self.takeoff(40)
self.set_rc(9, 1500)
self.set_parameters({
"SIM_ENGINE_MUL": 0,
"SIM_ENGINE_FAIL": 1,
})
self.wait_statustext('BANG! Parachute deployed', timeout=60)
self.set_rc(9, 1000)
self.disarm_vehicle(force=True)
self.reboot_sitl()
self.context_pop()
self.progress("Crashing with 3pos switch in disable position")
loiter_alt = 10
self.takeoff(loiter_alt, mode='LOITER')
self.set_rc(9, 1100)
self.set_parameters({
"SIM_ENGINE_MUL": 0,
"SIM_ENGINE_FAIL": 1,
})
tstart = self.get_sim_time()
while self.get_sim_time_cached() < tstart + 5:
m = self.mav.recv_match(type='STATUSTEXT', blocking=True, timeout=1)
if m is None:
continue
if "BANG" in m.text:
self.set_rc(9, 1000)
self.reboot_sitl()
raise NotAchievedException("Parachute deployed when disabled")
self.set_rc(9, 1000)
self.disarm_vehicle(force=True)
self.reboot_sitl()
def MotorTest(self, timeout=60):
'''Run Motor Tests'''
self.start_subtest("Testing PWM output")
pwm_in = 1300
# default frame is "+" - start motor of 2 is "B", which is
# motor 1... see
# https://ardupilot.org/copter/docs/connect-escs-and-motors.html
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_MOTOR_TEST,
2, # start motor
mavutil.mavlink.MOTOR_TEST_THROTTLE_PWM,
pwm_in, # pwm-to-output
2, # timeout in seconds
2, # number of motors to output
0, # compass learning
0,
timeout=timeout)
# long timeouts here because there's a pause before we start motors
self.wait_servo_channel_value(1, pwm_in, timeout=10)
self.wait_servo_channel_value(4, pwm_in, timeout=10)
self.wait_statustext("finished motor test")
self.end_subtest("Testing PWM output")
self.start_subtest("Testing percentage output")
percentage = 90.1
# since MOT_SPIN_MIN and MOT_SPIN_MAX are not set, the RC3
# min/max are used.
expected_pwm = 1000 + (self.get_parameter("RC3_MAX") - self.get_parameter("RC3_MIN")) * percentage/100.0
self.progress("expected pwm=%f" % expected_pwm)
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_MOTOR_TEST,
2, # start motor
mavutil.mavlink.MOTOR_TEST_THROTTLE_PERCENT,
percentage, # pwm-to-output
2, # timeout in seconds
2, # number of motors to output
0, # compass learning
0,
timeout=timeout)
self.wait_servo_channel_value(1, expected_pwm, timeout=10)
self.wait_servo_channel_value(4, expected_pwm, timeout=10)
self.wait_statustext("finished motor test")
self.end_subtest("Testing percentage output")
def PrecisionLanding(self):
"""Use PrecLand backends precision messages to land aircraft."""
self.context_push()
for backend in [4, 2]: # SITL, SITL-IRLOCK
ex = None
try:
self.set_parameters({
"PLND_ENABLED": 1,
"PLND_TYPE": backend,
})
self.set_analog_rangefinder_parameters()
self.set_parameter("SIM_SONAR_SCALE", 12)
start = self.mav.location()
target = start
(target.lat, target.lng) = mavextra.gps_offset(start.lat, start.lng, 4, -4)
self.progress("Setting target to %f %f" % (target.lat, target.lng))
self.set_parameters({
"SIM_PLD_ENABLE": 1,
"SIM_PLD_LAT": target.lat,
"SIM_PLD_LON": target.lng,
"SIM_PLD_HEIGHT": 0,
"SIM_PLD_ALT_LMT": 15,
"SIM_PLD_DIST_LMT": 10,
})
self.reboot_sitl()
self.progress("Waiting for location")
self.zero_throttle()
self.takeoff(10, 1800, mode="LOITER")
self.change_mode("LAND")
self.zero_throttle()
self.wait_landed_and_disarmed()
self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
new_pos = self.mav.location()
delta = self.get_distance(target, new_pos)
self.progress("Landed %f metres from target position" % delta)
max_delta = 1
if delta > max_delta:
raise NotAchievedException("Did not land close enough to target position (%fm > %fm" % (delta, max_delta))
if not self.current_onboard_log_contains_message("PL"):
raise NotAchievedException("Did not see expected PL message")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.reboot_sitl()
self.zero_throttle()
self.context_pop()
self.reboot_sitl()
self.progress("All done")
if ex is not None:
raise ex
def Landing(self):
"""Test landing the aircraft."""
def check_landing_speeds(land_speed_high, land_speed_low, land_alt_low, land_speed_high_accuracy=0.1):
self.progress("Checking landing speeds (speed_high=%f speed_low=%f alt_low=%f" %
(land_speed_high, land_speed_low, land_alt_low))
land_high_maintain = 5
land_low_maintain = land_alt_low / land_speed_low / 2
takeoff_alt = (land_high_maintain * land_speed_high + land_alt_low) + 20
# this is pretty rough, but takes *so much longer* in LOITER
self.takeoff(takeoff_alt, mode='STABILIZE', timeout=200, takeoff_throttle=2000)
# check default landing speeds:
self.change_mode('LAND')
# ensure higher-alt descent rate:
self.wait_descent_rate(land_speed_high,
minimum_duration=land_high_maintain,
accuracy=land_speed_high_accuracy)
self.wait_descent_rate(land_speed_low)
# ensure we transition to low descent rate at correct height:
self.assert_altitude(land_alt_low, relative=True)
# now make sure we maintain that descent rate:
self.wait_descent_rate(land_speed_low, minimum_duration=land_low_maintain)
self.wait_disarmed()
# test the defaults. By default LAND_SPEED_HIGH is 0 so
# WPNAV_SPEED_DN is used
check_landing_speeds(
self.get_parameter("WPNAV_SPEED_DN") / 100, # cm/s -> m/s
self.get_parameter("LAND_SPEED") / 100, # cm/s -> m/s
self.get_parameter("LAND_ALT_LOW") / 100 # cm -> m
)
def test_landing_speeds(land_speed_high, land_speed_low, land_alt_low, **kwargs):
self.set_parameters({
"LAND_SPEED_HIGH": land_speed_high * 100, # m/s -> cm/s
"LAND_SPEED": land_speed_low * 100, # m/s -> cm/s
"LAND_ALT_LOW": land_alt_low * 100, # m -> cm
})
check_landing_speeds(land_speed_high, land_speed_low, land_alt_low, **kwargs)
test_landing_speeds(
5, # descent speed high
1, # descent speed low
30, # transition altitude
land_speed_high_accuracy=0.5
)
def get_system_clock_utc(self, time_seconds):
# this is a copy of ArduPilot's AP_RTC function!
# separate time into ms, sec, min, hour and days but all expressed
# in milliseconds
time_ms = time_seconds * 1000
ms = time_ms % 1000
sec_ms = (time_ms % (60 * 1000)) - ms
min_ms = (time_ms % (60 * 60 * 1000)) - sec_ms - ms
hour_ms = (time_ms % (24 * 60 * 60 * 1000)) - min_ms - sec_ms - ms
# convert times as milliseconds into appropriate units
secs = sec_ms / 1000
mins = min_ms / (60 * 1000)
hours = hour_ms / (60 * 60 * 1000)
return (hours, mins, secs, 0)
def calc_delay(self, seconds, delay_for_seconds):
# delay-for-seconds has to be long enough that we're at the
# waypoint before that time. Otherwise we'll try to wait a
# day....
if delay_for_seconds >= 3600:
raise ValueError("Won't handle large delays")
(hours,
mins,
secs,
ms) = self.get_system_clock_utc(seconds)
self.progress("Now is %uh %um %us" % (hours, mins, secs))
secs += delay_for_seconds # add seventeen seconds
mins += int(secs/60)
secs %= 60
hours += int(mins / 60)
mins %= 60
if hours > 24:
raise ValueError("Way too big a delay")
self.progress("Delay until %uh %um %us" %
(hours, mins, secs))
return (hours, mins, secs, 0)
def reset_delay_item(self, seq, seconds_in_future):
frame = mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT
command = mavutil.mavlink.MAV_CMD_NAV_DELAY
# retrieve mission item and check it:
tried_set = False
hours = None
mins = None
secs = None
while True:
self.progress("Requesting item")
self.mav.mav.mission_request_send(1,
1,
seq)
st = self.mav.recv_match(type='MISSION_ITEM',
blocking=True,
timeout=1)
if st is None:
continue
print("Item: %s" % str(st))
have_match = (tried_set and
st.seq == seq and
st.command == command and
st.param2 == hours and
st.param3 == mins and
st.param4 == secs)
if have_match:
return
self.progress("Mission mismatch")
m = None
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 3:
raise NotAchievedException(
"Did not receive MISSION_REQUEST")
self.mav.mav.mission_write_partial_list_send(1,
1,
seq,
seq)
m = self.mav.recv_match(type='MISSION_REQUEST',
blocking=True,
timeout=1)
if m is None:
continue
if m.seq != st.seq:
continue
break
self.progress("Sending absolute-time mission item")
# we have to change out the delay time...
now = self.mav.messages["SYSTEM_TIME"]
if now is None:
raise PreconditionFailedException("Never got SYSTEM_TIME")
if now.time_unix_usec == 0:
raise PreconditionFailedException("system time is zero")
(hours, mins, secs, ms) = self.calc_delay(now.time_unix_usec/1000000, seconds_in_future)
self.mav.mav.mission_item_send(
1, # target system
1, # target component
seq, # seq
frame, # frame
command, # command
0, # current
1, # autocontinue
0, # p1 (relative seconds)
hours, # p2
mins, # p3
secs, # p4
0, # p5
0, # p6
0) # p7
tried_set = True
ack = self.mav.recv_match(type='MISSION_ACK',
blocking=True,
timeout=1)
self.progress("Received ack: %s" % str(ack))
def NavDelayAbsTime(self):
"""fly a simple mission that has a delay in it"""
self.fly_nav_delay_abstime_x(87)
def fly_nav_delay_abstime_x(self, delay_for, expected_delay=None):
"""fly a simple mission that has a delay in it, expect a delay"""
if expected_delay is None:
expected_delay = delay_for
self.load_mission("copter_nav_delay.txt")
self.change_mode("LOITER")
self.wait_ready_to_arm()
delay_item_seq = 3
self.reset_delay_item(delay_item_seq, delay_for)
delay_for_seconds = delay_for
reset_at_m = self.mav.recv_match(type='SYSTEM_TIME', blocking=True)
reset_at = reset_at_m.time_unix_usec/1000000
self.arm_vehicle()
self.change_mode("AUTO")
self.set_rc(3, 1600)
count_stop = -1
tstart = self.get_sim_time()
while self.armed(): # we RTL at end of mission
now = self.get_sim_time_cached()
if now - tstart > 240:
raise AutoTestTimeoutException("Did not disarm as expected")
m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
at_delay_item = ""
if m.seq == delay_item_seq:
at_delay_item = "(delay item)"
self.progress("MISSION_CURRENT.seq=%u %s" % (m.seq, at_delay_item))
if m.seq > delay_item_seq:
if count_stop == -1:
count_stop_m = self.mav.recv_match(type='SYSTEM_TIME',
blocking=True)
count_stop = count_stop_m.time_unix_usec/1000000
calculated_delay = count_stop - reset_at
error = abs(calculated_delay - expected_delay)
self.progress("Stopped for %u seconds (want >=%u seconds)" %
(calculated_delay, delay_for_seconds))
if error > 2:
raise NotAchievedException("delay outside expectations")
def NavDelayTakeoffAbsTime(self):
"""make sure taking off at a specific time works"""
self.load_mission("copter_nav_delay_takeoff.txt")
self.change_mode("LOITER")
self.wait_ready_to_arm()
delay_item_seq = 2
delay_for_seconds = 77
self.reset_delay_item(delay_item_seq, delay_for_seconds)
reset_at = self.get_sim_time_cached()
self.arm_vehicle()
self.change_mode("AUTO")
self.set_rc(3, 1600)
# should not take off for about least 77 seconds
tstart = self.get_sim_time()
took_off = False
while self.armed():
now = self.get_sim_time_cached()
if now - tstart > 200:
# timeout
break
m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
now = self.get_sim_time_cached()
self.progress("%s" % str(m))
if m.seq > delay_item_seq:
if not took_off:
took_off = True
delta_time = now - reset_at
if abs(delta_time - delay_for_seconds) > 2:
raise NotAchievedException((
"Did not take off on time "
"measured=%f want=%f" %
(delta_time, delay_for_seconds)))
if not took_off:
raise NotAchievedException("Did not take off")
def ModeZigZag(self):
'''test zigzag mode'''
# set channel 8 for zigzag savewp and recentre it
self.set_parameter("RC8_OPTION", 61)
self.takeoff(alt_min=5, mode='LOITER')
ZIGZAG = 24
j = 0
slowdown_speed = 0.3 # because Copter takes a long time to actually stop
self.start_subtest("Conduct ZigZag test for all 4 directions")
while j < 4:
self.progress("## Align heading with the run-way (j=%d)##" % j)
self.set_rc(8, 1500)
self.set_rc(4, 1420)
self.wait_heading(352-j*90)
self.set_rc(4, 1500)
self.change_mode(ZIGZAG)
self.progress("## Record Point A ##")
self.set_rc(8, 1100) # record point A
self.set_rc(1, 1700) # fly side-way for 20m
self.wait_distance(20)
self.set_rc(1, 1500)
self.wait_groundspeed(0, slowdown_speed) # wait until the copter slows down
self.progress("## Record Point A ##")
self.set_rc(8, 1500) # pilot always have to cross mid position when changing for low to high position
self.set_rc(8, 1900) # record point B
i = 1
while i < 2:
self.start_subtest("Run zigzag A->B and B->A (i=%d)" % i)
self.progress("## fly forward for 10 meter ##")
self.set_rc(2, 1300)
self.wait_distance(10)
self.set_rc(2, 1500) # re-centre pitch rc control
self.wait_groundspeed(0, slowdown_speed) # wait until the copter slows down
self.set_rc(8, 1500) # switch to mid position
self.progress("## auto execute vector BA ##")
self.set_rc(8, 1100)
self.wait_distance(17) # wait for it to finish
self.wait_groundspeed(0, slowdown_speed) # wait until the copter slows down
self.progress("## fly forward for 10 meter ##")
self.set_rc(2, 1300) # fly forward for 10 meter
self.wait_distance(10)
self.set_rc(2, 1500) # re-centre pitch rc control
self.wait_groundspeed(0, slowdown_speed) # wait until the copter slows down
self.set_rc(8, 1500) # switch to mid position
self.progress("## auto execute vector AB ##")
self.set_rc(8, 1900)
self.wait_distance(17) # wait for it to finish
self.wait_groundspeed(0, slowdown_speed) # wait until the copter slows down
i = i + 1
# test the case when pilot switch to manual control during the auto flight
self.start_subtest("test the case when pilot switch to manual control during the auto flight")
self.progress("## fly forward for 10 meter ##")
self.set_rc(2, 1300) # fly forward for 10 meter
self.wait_distance(10)
self.set_rc(2, 1500) # re-centre pitch rc control
self.wait_groundspeed(0, 0.3) # wait until the copter slows down
self.set_rc(8, 1500) # switch to mid position
self.progress("## auto execute vector BA ##")
self.set_rc(8, 1100) # switch to low position, auto execute vector BA
self.wait_distance(8) # purposely switch to manual halfway
self.set_rc(8, 1500)
self.wait_groundspeed(0, slowdown_speed) # copter should slow down here
self.progress("## Manual control to fly forward ##")
self.set_rc(2, 1300) # manual control to fly forward
self.wait_distance(8)
self.set_rc(2, 1500) # re-centre pitch rc control
self.wait_groundspeed(0, slowdown_speed) # wait until the copter slows down
self.progress("## continue vector BA ##")
self.set_rc(8, 1100) # copter should continue mission here
self.wait_distance(8) # wait for it to finish rest of BA
self.wait_groundspeed(0, slowdown_speed) # wait until the copter slows down
self.set_rc(8, 1500) # switch to mid position
self.progress("## auto execute vector AB ##")
self.set_rc(8, 1900) # switch to execute AB again
self.wait_distance(17) # wait for it to finish
self.wait_groundspeed(0, slowdown_speed) # wait until the copter slows down
self.change_mode('LOITER')
j = j + 1
self.do_RTL()
def SetModesViaModeSwitch(self):
'''Set modes via modeswitch'''
self.context_push()
ex = None
try:
fltmode_ch = 5
self.set_parameter("FLTMODE_CH", fltmode_ch)
self.set_rc(fltmode_ch, 1000) # PWM for mode1
testmodes = [("FLTMODE1", 4, "GUIDED", 1165),
("FLTMODE2", 2, "ALT_HOLD", 1295),
("FLTMODE3", 6, "RTL", 1425),
("FLTMODE4", 7, "CIRCLE", 1555),
("FLTMODE5", 1, "ACRO", 1685),
("FLTMODE6", 17, "BRAKE", 1815),
]
for mode in testmodes:
(parm, parm_value, name, pwm) = mode
self.set_parameter(parm, parm_value)
for mode in reversed(testmodes):
(parm, parm_value, name, pwm) = mode
self.set_rc(fltmode_ch, pwm)
self.wait_mode(name)
for mode in testmodes:
(parm, parm_value, name, pwm) = mode
self.set_rc(fltmode_ch, pwm)
self.wait_mode(name)
for mode in reversed(testmodes):
(parm, parm_value, name, pwm) = mode
self.set_rc(fltmode_ch, pwm)
self.wait_mode(name)
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
if ex is not None:
raise ex
def SetModesViaAuxSwitch(self):
'''"Set modes via auxswitch"'''
self.context_push()
ex = None
try:
fltmode_ch = int(self.get_parameter("FLTMODE_CH"))
self.set_rc(fltmode_ch, 1000)
self.wait_mode("CIRCLE")
self.set_rc(9, 1000)
self.set_rc(10, 1000)
self.set_parameters({
"RC9_OPTION": 18, # land
"RC10_OPTION": 55, # guided
})
self.set_rc(9, 1900)
self.wait_mode("LAND")
self.set_rc(10, 1900)
self.wait_mode("GUIDED")
self.set_rc(10, 1000) # this re-polls the mode switch
self.wait_mode("CIRCLE")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
if ex is not None:
raise ex
def fly_guided_stop(self,
timeout=20,
groundspeed_tolerance=0.05,
climb_tolerance=0.01):
"""stop the vehicle moving in guided mode"""
self.progress("Stopping vehicle")
tstart = self.get_sim_time()
# send a position-control command
self.mav.mav.set_position_target_local_ned_send(
0, # timestamp
1, # target system_id
1, # target component id
mavutil.mavlink.MAV_FRAME_BODY_NED,
MAV_POS_TARGET_TYPE_MASK.POS_ONLY | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE, # mask specifying use-only-x-y-z
0, # x
0, # y
0, # z
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Vehicle did not stop")
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
print("%s" % str(m))
if (m.groundspeed < groundspeed_tolerance and
m.climb < climb_tolerance):
break
def fly_guided_move_global_relative_alt(self, lat, lon, alt):
startpos = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
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,
MAV_POS_TARGET_TYPE_MASK.POS_ONLY, # 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")
# send a position-control command
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
def fly_guided_move_local(self, x, y, z_up, timeout=100):
"""move the vehicle using MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED"""
startpos = self.mav.recv_match(type='LOCAL_POSITION_NED', blocking=True)
self.progress("startpos=%s" % str(startpos))
tstart = self.get_sim_time()
# send a position-control command
self.mav.mav.set_position_target_local_ned_send(
0, # timestamp
1, # target system_id
1, # target component id
mavutil.mavlink.MAV_FRAME_LOCAL_NED,
MAV_POS_TARGET_TYPE_MASK.POS_ONLY | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE, # mask specifying use-only-x-y-z
x, # x
y, # y
-z_up,# z
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Did not reach destination")
if self.distance_to_local_position((x, y, -z_up)) < 1:
break
def test_guided_local_position_target(self, x, y, z_up):
""" Check target position being received by vehicle """
# set POSITION_TARGET_LOCAL_NED message rate using SET_MESSAGE_INTERVAL
self.progress("Setting local target in NED: (%f, %f, %f)" % (x, y, -z_up))
self.progress("Setting rate to 1 Hz")
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, 1)
# mask specifying use only xyz
target_typemask = MAV_POS_TARGET_TYPE_MASK.POS_ONLY
# set position target
self.mav.mav.set_position_target_local_ned_send(
0, # timestamp
1, # target system_id
1, # target component id
mavutil.mavlink.MAV_FRAME_LOCAL_NED,
target_typemask | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE,
x, # x
y, # y
-z_up, # z
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
m = self.mav.recv_match(type='POSITION_TARGET_LOCAL_NED', blocking=True, timeout=2)
self.progress("Received local target: %s" % str(m))
if not (m.type_mask == (target_typemask | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE) or m.type_mask == target_typemask):
raise NotAchievedException("Did not receive proper mask: expected=%u or %u, got=%u" %
((target_typemask | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE), target_typemask, m.type_mask))
if x - m.x > 0.1:
raise NotAchievedException("Did not receive proper target position x: wanted=%f got=%f" % (x, m.x))
if y - m.y > 0.1:
raise NotAchievedException("Did not receive proper target position y: wanted=%f got=%f" % (y, m.y))
if z_up - (-m.z) > 0.1:
raise NotAchievedException("Did not receive proper target position z: wanted=%f got=%f" % (z_up, -m.z))
def test_guided_local_velocity_target(self, vx, vy, vz_up, timeout=3):
" Check local target velocity being received by vehicle "
self.progress("Setting local NED velocity target: (%f, %f, %f)" % (vx, vy, -vz_up))
self.progress("Setting POSITION_TARGET_LOCAL_NED message rate to 10Hz")
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, 10)
# mask specifying use only vx,vy,vz & accel. Even though we don't test acceltargets below currently
# a velocity only mask returns a velocity & accel mask
target_typemask = (MAV_POS_TARGET_TYPE_MASK.POS_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE | MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE)
# Drain old messages and ignore the ramp-up to the required target velocity
tstart = self.get_sim_time()
while self.get_sim_time_cached() - tstart < timeout:
# send velocity-control command
self.mav.mav.set_position_target_local_ned_send(
0, # timestamp
1, # target system_id
1, # target component id
mavutil.mavlink.MAV_FRAME_LOCAL_NED,
target_typemask | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE,
0, # x
0, # y
0, # z
vx, # vx
vy, # vy
-vz_up, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
m = self.assert_receive_message('POSITION_TARGET_LOCAL_NED')
self.progress("Received local target: %s" % str(m))
# Check the last received message
if not (m.type_mask == (target_typemask | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE) or m.type_mask == target_typemask):
raise NotAchievedException("Did not receive proper mask: expected=%u or %u, got=%u" %
((target_typemask | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE), target_typemask, m.type_mask))
if vx - m.vx > 0.1:
raise NotAchievedException("Did not receive proper target velocity vx: wanted=%f got=%f" % (vx, m.vx))
if vy - m.vy > 0.1:
raise NotAchievedException("Did not receive proper target velocity vy: wanted=%f got=%f" % (vy, m.vy))
if vz_up - (-m.vz) > 0.1:
raise NotAchievedException("Did not receive proper target velocity vz: wanted=%f got=%f" % (vz_up, -m.vz))
self.progress("Received proper target velocity commands")
def wait_for_local_velocity(self, vx, vy, vz_up, timeout=10):
""" Wait for local target velocity"""
# debug messages
self.progress("Waiting for local NED velocity target: (%f, %f, %f)" % (vx, vy, -vz_up))
self.progress("Setting LOCAL_POSITION_NED message rate to 10Hz")
# set position local ned message stream rate
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_LOCAL_POSITION_NED, 10)
# wait for position local ned message
tstart = self.get_sim_time()
while self.get_sim_time_cached() - tstart < timeout:
# get position target local ned message
m = self.mav.recv_match(type="LOCAL_POSITION_NED", blocking=True, timeout=1)
# could not be able to get a valid target local ned message within given time
if m is None:
# raise an error that did not receive a valid target local ned message within given time
raise NotAchievedException("Did not receive any position local ned message for 1 second!")
# got a valid target local ned message within given time
else:
# debug message
self.progress("Received local position ned message: %s" % str(m))
# check if velocity values are in range
if vx - m.vx <= 0.1 and vy - m.vy <= 0.1 and vz_up - (-m.vz) <= 0.1:
# get out of function
self.progress("Vehicle successfully reached to target velocity!")
return
# raise an exception
error_message = "Did not receive target velocities vx, vy, vz_up, wanted=(%f, %f, %f) got=(%f, %f, %f)"
error_message = error_message % (vx, vy, vz_up, m.vx, m.vy, -m.vz)
raise NotAchievedException(error_message)
def test_position_target_message_mode(self):
" Ensure that POSITION_TARGET_LOCAL_NED messages are sent in Guided Mode only "
self.hover()
self.change_mode('LOITER')
self.progress("Setting POSITION_TARGET_LOCAL_NED message rate to 10Hz")
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, 10)
tstart = self.get_sim_time()
while self.get_sim_time_cached() < tstart + 5:
m = self.mav.recv_match(type='POSITION_TARGET_LOCAL_NED', blocking=True, timeout=1)
if m is None:
continue
raise NotAchievedException("Received POSITION_TARGET message in LOITER mode: %s" % str(m))
self.progress("Did not receive any POSITION_TARGET_LOCAL_NED message in LOITER mode. Success")
def earth_to_body(self, vector):
r = mavextra.rotation(self.mav.messages["ATTITUDE"]).invert()
# print("r=%s" % str(r))
return r * vector
def precision_loiter_to_pos(self, x, y, z, timeout=40):
'''send landing_target messages at vehicle until it arrives at
location to x, y, z from origin (in metres), z is *up*'''
dest_ned = rotmat.Vector3(x, y, -z)
tstart = self.get_sim_time()
success_start = -1
while True:
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise NotAchievedException("Did not loiter to position!")
m_pos = self.mav.recv_match(type='LOCAL_POSITION_NED',
blocking=True)
pos_ned = rotmat.Vector3(m_pos.x, m_pos.y, m_pos.z)
# print("dest_ned=%s" % str(dest_ned))
# print("pos_ned=%s" % str(pos_ned))
delta_ef = dest_ned - pos_ned
# print("delta_ef=%s" % str(delta_ef))
# determine if we've successfully navigated to close to
# where we should be:
dist = math.sqrt(delta_ef.x * delta_ef.x + delta_ef.y * delta_ef.y)
dist_max = 0.15
self.progress("dist=%f want <%f" % (dist, dist_max))
if dist < dist_max:
# success! We've gotten within our target distance
if success_start == -1:
success_start = now
elif now - success_start > 10:
self.progress("Yay!")
break
else:
success_start = -1
delta_bf = self.earth_to_body(delta_ef)
# print("delta_bf=%s" % str(delta_bf))
angle_x = math.atan2(delta_bf.y, delta_bf.z)
angle_y = -math.atan2(delta_bf.x, delta_bf.z)
distance = math.sqrt(delta_bf.x * delta_bf.x +
delta_bf.y * delta_bf.y +
delta_bf.z * delta_bf.z)
# att = self.mav.messages["ATTITUDE"]
# print("r=%f p=%f y=%f" % (math.degrees(att.roll), math.degrees(att.pitch), math.degrees(att.yaw)))
# print("angle_x=%s angle_y=%s" % (str(math.degrees(angle_x)), str(math.degrees(angle_y))))
# print("distance=%s" % str(distance))
self.mav.mav.landing_target_send(
0, # time_usec
1, # target_num
mavutil.mavlink.MAV_FRAME_GLOBAL, # frame; AP ignores
angle_x, # angle x (radians)
angle_y, # angle y (radians)
distance, # distance to target
0.01, # size of target in radians, X-axis
0.01 # size of target in radians, Y-axis
)
def PayLoadPlaceMission(self):
"""Test payload placing in auto."""
self.context_push()
ex = None
try:
self.set_analog_rangefinder_parameters()
self.set_parameters({
"GRIP_ENABLE": 1,
"GRIP_TYPE": 1,
"SIM_GRPS_ENABLE": 1,
"SIM_GRPS_PIN": 8,
"SERVO8_FUNCTION": 28,
})
self.reboot_sitl()
self.load_mission("copter_payload_place.txt")
if self.mavproxy is not None:
self.mavproxy.send('wp list\n')
self.set_parameter("AUTO_OPTIONS", 3)
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_text("Gripper load releas", timeout=90)
dist_limit = 1
# this is a copy of the point in the mission file:
target_loc = mavutil.location(-35.363106,
149.165436,
0,
0)
dist = self.get_distance(target_loc, self.mav.location())
self.progress("dist=%f" % (dist,))
if dist > dist_limit:
raise NotAchievedException("Did not honour target lat/lng (dist=%f want <%f" %
(dist, dist_limit))
self.wait_disarmed()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.reboot_sitl()
self.progress("All done")
if ex is not None:
raise ex
def GuidedSubModeChange(self):
""""Ensure we can move around in guided after a takeoff command."""
'''start by disabling GCS failsafe, otherwise we immediately disarm
due to (apparently) not receiving traffic from the GCS for
too long. This is probably a function of --speedup'''
self.set_parameters({
"FS_GCS_ENABLE": 0,
"DISARM_DELAY": 0, # until traffic problems are fixed
})
self.change_mode("GUIDED")
self.wait_ready_to_arm()
self.arm_vehicle()
self.user_takeoff(alt_min=10)
self.start_subtest("yaw through absolute angles using MAV_CMD_CONDITION_YAW")
self.guided_achieve_heading(45)
self.guided_achieve_heading(135)
self.start_subtest("move the vehicle using set_position_target_global_int")
# the following numbers are 5-degree-latitude and 5-degrees
# longitude - just so that we start to really move a lot.
self.fly_guided_move_global_relative_alt(5, 5, 10)
self.start_subtest("move the vehicle using MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED")
self.fly_guided_stop(groundspeed_tolerance=0.1)
self.fly_guided_move_local(5, 5, 10)
self.start_subtest("Checking that WP_YAW_BEHAVIOUR 0 works")
self.set_parameter('WP_YAW_BEHAVIOR', 0)
self.delay_sim_time(2)
orig_heading = self.get_heading()
self.fly_guided_move_local(5, 0, 10)
# ensure our heading hasn't changed:
self.assert_heading(orig_heading)
self.fly_guided_move_local(0, 5, 10)
# ensure our heading hasn't changed:
self.assert_heading(orig_heading)
self.start_subtest("Check target position received by vehicle using SET_MESSAGE_INTERVAL")
self.test_guided_local_position_target(5, 5, 10)
self.test_guided_local_velocity_target(2, 2, 1)
self.test_position_target_message_mode()
self.do_RTL()
def TestGripperMission(self):
'''Test Gripper mission items'''
self.context_push()
ex = None
try:
self.load_mission("copter-gripper-mission.txt")
self.change_mode('LOITER')
self.wait_ready_to_arm()
self.assert_vehicle_location_is_at_startup_location()
self.arm_vehicle()
self.change_mode('AUTO')
self.set_rc(3, 1500)
self.wait_statustext("Gripper Grabbed", timeout=60)
self.wait_statustext("Gripper Released", timeout=60)
except Exception as e:
self.print_exception_caught(e)
self.change_mode('LAND')
ex = e
self.context_pop()
self.wait_disarmed()
if ex is not None:
raise ex
def SplineLastWaypoint(self):
'''Test Spline as last waypoint'''
self.context_push()
ex = None
try:
self.load_mission("copter-spline-last-waypoint.txt")
self.change_mode('LOITER')
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('AUTO')
self.set_rc(3, 1500)
self.wait_altitude(10, 3000, relative=True)
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.do_RTL()
self.wait_disarmed()
if ex is not None:
raise ex
def ManualThrottleModeChange(self):
'''Check manual throttle mode changes denied on high throttle'''
self.set_parameter("FS_GCS_ENABLE", 0) # avoid GUIDED instant disarm
self.change_mode("STABILIZE")
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode("ACRO")
self.change_mode("STABILIZE")
self.change_mode("GUIDED")
self.set_rc(3, 1700)
self.watch_altitude_maintained(altitude_min=-1, altitude_max=0.2) # should not take off in guided
self.run_cmd_do_set_mode(
"ACRO",
want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.run_cmd_do_set_mode(
"STABILIZE",
want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.run_cmd_do_set_mode(
"DRIFT",
want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.progress("Check setting an invalid mode")
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_SET_MODE,
mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
126,
0,
0,
0,
0,
0,
want_result=mavutil.mavlink.MAV_RESULT_FAILED,
timeout=1
)
self.set_rc(3, 1000)
self.run_cmd_do_set_mode("ACRO")
self.wait_disarmed()
def test_mount_pitch(self, despitch, despitch_tolerance, mount_mode, timeout=10, hold=0):
tstart = self.get_sim_time()
success_start = 0
while True:
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise NotAchievedException("Mount pitch not achieved")
'''retrieve latest angles from GIMBAL_DEVICE_ATTITUDE_STATUS'''
mount_roll, mount_pitch, mount_yaw = self.get_mount_roll_pitch_yaw_deg()
self.progress("despitch=%f roll=%f pitch=%f yaw=%f" % (despitch, mount_roll, mount_pitch, mount_yaw))
if abs(despitch - mount_pitch) > despitch_tolerance:
self.progress("Mount pitch incorrect: got=%f want=%f (+/- %f)" %
(mount_pitch, despitch, despitch_tolerance))
success_start = 0
continue
self.progress("Mount pitch correct: %f degrees == %f" %
(mount_pitch, despitch))
if success_start == 0:
success_start = now
continue
if now - success_start > hold:
self.progress("Mount pitch achieved")
return
def do_pitch(self, pitch):
'''pitch aircraft in guided/angle mode'''
self.mav.mav.set_attitude_target_send(
0, # time_boot_ms
1, # target sysid
1, # target compid
0, # bitmask of things to ignore
mavextra.euler_to_quat([0, math.radians(pitch), 0]), # att
0, # roll rate (rad/s)
0, # pitch rate (rad/s)
0, # yaw rate (rad/s)
0.5) # thrust, 0 to 1, translated to a climb/descent rate
def setup_servo_mount(self, roll_servo=5, pitch_servo=6, yaw_servo=7):
'''configure a rpy servo mount; caller responsible for required rebooting'''
self.progress("Setting up servo mount")
self.set_parameters({
"MNT1_TYPE": 1,
"MNT1_PITCH_MIN": -45,
"MNT1_PITCH_MAX": 45,
"RC6_OPTION": 213, # MOUNT1_PITCH
"SERVO%u_FUNCTION" % roll_servo: 8, # roll
"SERVO%u_FUNCTION" % pitch_servo: 7, # pitch
"SERVO%u_FUNCTION" % yaw_servo: 6, # yaw
})
def get_mount_roll_pitch_yaw_deg(self):
'''return mount (aka gimbal) roll, pitch and yaw angles in degrees'''
# wait for gimbal attitude message
m = self.assert_receive_message('GIMBAL_DEVICE_ATTITUDE_STATUS', timeout=5)
# convert quaternion to euler angles and return
q = quaternion.Quaternion(m.q)
euler = q.euler
return math.degrees(euler[0]), math.degrees(euler[1]), math.degrees(euler[2])
def set_mount_mode(self, mount_mode):
'''set mount mode'''
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_MOUNT_CONFIGURE,
mount_mode,
0, # stabilize roll (unsupported)
0, # stabilize pitch (unsupported)
0, 0, 0, 0)
def Mount(self):
'''Test Camera/Antenna Mount'''
ex = None
self.context_push()
old_srcSystem = self.mav.mav.srcSystem
self.mav.mav.srcSystem = 250
self.set_parameter("DISARM_DELAY", 0)
try:
'''start by disabling GCS failsafe, otherwise we immediately disarm
due to (apparently) not receiving traffic from the GCS for
too long. This is probably a function of --speedup'''
self.set_parameter("FS_GCS_ENABLE", 0)
# setup mount parameters
self.setup_servo_mount()
self.reboot_sitl() # to handle MNT_TYPE changing
# make sure we're getting gimbal device attitude status
self.assert_receive_message('GIMBAL_DEVICE_ATTITUDE_STATUS', timeout=5)
# change mount to neutral mode (point forward, not stabilising)
self.set_mount_mode(mavutil.mavlink.MAV_MOUNT_MODE_NEUTRAL)
# test pitch is not stabilising
mount_roll_deg, mount_pitch_deg, mount_yaw_deg = self.get_mount_roll_pitch_yaw_deg()
if mount_roll_deg != 0 or mount_pitch_deg != 0 or mount_yaw_deg != 0:
raise NotAchievedException("Mount stabilising when not requested")
self.change_mode('GUIDED')
self.wait_ready_to_arm()
self.arm_vehicle()
self.user_takeoff()
# pitch vehicle back and confirm gimbal is still not stabilising
despitch = 10
despitch_tolerance = 3
self.progress("Pitching vehicle")
self.do_pitch(despitch) # will time out!
self.wait_pitch(despitch, despitch_tolerance)
# check gimbal is still not stabilising
mount_roll_deg, mount_pitch_deg, mount_yaw_deg = self.get_mount_roll_pitch_yaw_deg()
if mount_roll_deg != 0 or mount_pitch_deg != 0 or mount_yaw_deg != 0:
raise NotAchievedException("Mount stabilising when not requested")
# center RC tilt control and change mount to RC_TARGETING mode
self.progress("Gimbal to RC Targetting mode")
self.set_rc(6, 1500)
self.set_mount_mode(mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
# pitch vehicle back and confirm gimbal is stabilising
self.progress("Pitching vehicle")
self.do_pitch(despitch)
self.wait_pitch(despitch, despitch_tolerance)
self.test_mount_pitch(-despitch, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
# point gimbal at specified angle
self.progress("Point gimbal using GIMBAL_MANAGER_PITCHYAW (ANGLE)")
self.do_pitch(0) # level vehicle
self.wait_pitch(0, despitch_tolerance)
self.set_mount_mode(mavutil.mavlink.MAV_MOUNT_MODE_MAVLINK_TARGETING)
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW,
-20, # pitch angle in degrees
0, # yaw angle in degrees
0, # pitch rate in degrees (NaN to ignore)
0, # yaw rate in degrees (NaN to ignore)
0, # flags (0=Body-frame, 16/GIMBAL_MANAGER_FLAGS_YAW_LOCK=Earth Frame)
0, # unused
0) # gimbal id
self.test_mount_pitch(-20, 1, mavutil.mavlink.MAV_MOUNT_MODE_MAVLINK_TARGETING)
# point gimbal at specified location
self.progress("Point gimbal at Location using MOUNT_CONTROL (GPS)")
self.do_pitch(despitch)
self.set_mount_mode(mavutil.mavlink.MAV_MOUNT_MODE_GPS_POINT)
# Delay here to allow the attitude to command to timeout and level out the copter a bit
self.delay_sim_time(3)
start = self.mav.location()
self.progress("start=%s" % str(start))
(t_lat, t_lon) = mavextra.gps_offset(start.lat, start.lng, 10, 20)
t_alt = 0
self.progress("loc %f %f %f" % (start.lat, start.lng, start.alt))
self.progress("targetting %f %f %f" % (t_lat, t_lon, t_alt))
self.do_pitch(despitch)
self.mav.mav.mount_control_send(
1, # target system
1, # target component
int(t_lat * 1e7), # lat
int(t_lon * 1e7), # lon
t_alt * 100, # alt
0 # save position
)
self.test_mount_pitch(-52, 5, mavutil.mavlink.MAV_MOUNT_MODE_GPS_POINT)
# now test RC targetting
self.progress("Testing mount RC targetting")
# this is a one-off; ArduCopter *will* time out this directive!
self.progress("Levelling aircraft")
self.mav.mav.set_attitude_target_send(
0, # time_boot_ms
1, # target sysid
1, # target compid
0, # bitmask of things to ignore
mavextra.euler_to_quat([0, 0, 0]), # att
0, # roll rate (rad/s)
0, # pitch rate (rad/s)
0, # yaw rate (rad/s)
0.5) # thrust, 0 to 1, translated to a climb/descent rate
self.set_mount_mode(mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
try:
self.context_push()
self.set_parameters({
'RC6_OPTION': 0,
'RC11_OPTION': 212, # MOUNT1_ROLL
'RC12_OPTION': 213, # MOUNT1_PITCH
'RC13_OPTION': 214, # MOUNT1_YAW
'RC12_MIN': 1100,
'RC12_MAX': 1900,
'RC12_TRIM': 1500,
'MNT1_PITCH_MIN': -45,
'MNT1_PITCH_MAX': 45,
})
self.progress("Testing RC angular control")
# default RC min=1100 max=1900
self.set_rc_from_map({
11: 1500,
12: 1500,
13: 1500,
})
self.test_mount_pitch(0, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.progress("Testing RC input down 1/4 of its range in the output, should be down 1/4 range in output")
rc12_in = 1400
rc12_min = 1100 # default
rc12_max = 1900 # default
mpitch_min = -45.0
mpitch_max = 45.0
expected_pitch = (float(rc12_in-rc12_min)/float(rc12_max-rc12_min) * (mpitch_max-mpitch_min)) + mpitch_min
self.progress("expected mount pitch: %f" % expected_pitch)
if expected_pitch != -11.25:
raise NotAchievedException("Calculation wrong - defaults changed?!")
self.set_rc(12, rc12_in)
self.test_mount_pitch(-11.25, 0.01, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.set_rc(12, 1800)
self.test_mount_pitch(33.75, 0.01, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.set_rc_from_map({
11: 1500,
12: 1500,
13: 1500,
})
try:
self.context_push()
self.set_parameters({
"RC12_MIN": 1000,
"RC12_MAX": 2000,
"MNT1_PITCH_MIN": -90,
"MNT1_PITCH_MAX": 10,
})
self.set_rc(12, 1000)
self.test_mount_pitch(-90.00, 0.1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.set_rc(12, 2000)
self.test_mount_pitch(10.00, 0.1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.set_rc(12, 1500)
self.test_mount_pitch(-40.00, 0.1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
finally:
self.context_pop()
self.set_rc(12, 1500)
self.progress("Testing RC rate control")
self.set_parameter('MNT1_RC_RATE', 10)
self.test_mount_pitch(0, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.set_rc(12, 1300)
self.test_mount_pitch(-5, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.test_mount_pitch(-10, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.test_mount_pitch(-15, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.test_mount_pitch(-20, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.set_rc(12, 1700)
self.test_mount_pitch(-15, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.test_mount_pitch(-10, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.test_mount_pitch(-5, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.test_mount_pitch(0, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.test_mount_pitch(5, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.progress("Reverting to angle mode")
self.set_parameter('MNT1_RC_RATE', 0)
self.set_rc(12, 1500)
self.test_mount_pitch(0, 0.1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.context_pop()
except Exception as e:
self.print_exception_caught(e)
self.context_pop()
raise e
self.progress("Testing mount ROI behaviour")
self.test_mount_pitch(0, 0.1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
start = self.mav.location()
self.progress("start=%s" % str(start))
(roi_lat, roi_lon) = mavextra.gps_offset(start.lat,
start.lng,
10,
20)
roi_alt = 0
self.progress("Using MAV_CMD_DO_SET_ROI_LOCATION")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_ROI_LOCATION,
0,
0,
0,
0,
roi_lat,
roi_lon,
roi_alt,
)
self.test_mount_pitch(-52, 5, mavutil.mavlink.MAV_MOUNT_MODE_GPS_POINT)
start = self.mav.location()
(roi_lat, roi_lon) = mavextra.gps_offset(start.lat,
start.lng,
-100,
-200)
roi_alt = 0
self.progress("Using MAV_CMD_DO_SET_ROI")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_ROI,
0,
0,
0,
0,
roi_lat,
roi_lon,
roi_alt,
)
self.test_mount_pitch(-7.5, 1, mavutil.mavlink.MAV_MOUNT_MODE_GPS_POINT)
start = self.mav.location()
(roi_lat, roi_lon) = mavextra.gps_offset(start.lat,
start.lng,
-100,
-200)
roi_alt = 0
self.progress("Using MAV_CMD_DO_SET_ROI (COMMAND_INT)")
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_DO_SET_ROI,
0,
0,
0,
0,
int(roi_lat*1e7),
int(roi_lon*1e7),
roi_alt,
frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
)
self.test_mount_pitch(-7.5, 1, mavutil.mavlink.MAV_MOUNT_MODE_GPS_POINT)
self.progress("Using MAV_CMD_DO_SET_ROI (COMMAND_INT), absolute-alt-frame")
# this is pointing essentially straight down
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_DO_SET_ROI,
0,
0,
0,
0,
int(roi_lat*1e7),
int(roi_lon*1e7),
roi_alt,
frame=mavutil.mavlink.MAV_FRAME_GLOBAL,
)
self.test_mount_pitch(-70, 1, mavutil.mavlink.MAV_MOUNT_MODE_GPS_POINT, hold=2)
self.set_mount_mode(mavutil.mavlink.MAV_MOUNT_MODE_NEUTRAL)
self.test_mount_pitch(0, 0.1, mavutil.mavlink.MAV_MOUNT_MODE_NEUTRAL)
self.progress("Testing mount roi-sysid behaviour")
self.test_mount_pitch(0, 0.1, mavutil.mavlink.MAV_MOUNT_MODE_NEUTRAL)
start = self.mav.location()
self.progress("start=%s" % str(start))
(roi_lat, roi_lon) = mavextra.gps_offset(start.lat,
start.lng,
10,
20)
roi_alt = 0
self.progress("Using MAV_CMD_DO_SET_ROI_SYSID")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_ROI_SYSID,
self.mav.source_system,
0,
0,
0,
0,
0,
0,
)
self.mav.mav.global_position_int_send(
0, # time boot ms
int(roi_lat * 1e7),
int(roi_lon * 1e7),
0 * 1000, # mm alt amsl
0 * 1000, # relalt mm UP!
0, # vx
0, # vy
0, # vz
0 # heading
)
self.test_mount_pitch(-89, 5, mavutil.mavlink.MAV_MOUNT_MODE_SYSID_TARGET, hold=2)
self.mav.mav.global_position_int_send(
0, # time boot ms
int(roi_lat * 1e7),
int(roi_lon * 1e7),
670 * 1000, # mm alt amsl
100 * 1000, # mm UP!
0, # vx
0, # vy
0, # vz
0 # heading
)
self.test_mount_pitch(68, 5, mavutil.mavlink.MAV_MOUNT_MODE_SYSID_TARGET, hold=2)
self.set_mount_mode(mavutil.mavlink.MAV_MOUNT_MODE_NEUTRAL)
self.test_mount_pitch(0, 0.1, mavutil.mavlink.MAV_MOUNT_MODE_NEUTRAL)
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.mav.mav.srcSystem = old_srcSystem
self.disarm_vehicle(force=True)
self.reboot_sitl() # to handle MNT1_TYPE changing
if ex is not None:
raise ex
def MountYawVehicleForMountROI(self):
'''Test Camera/Antenna Mount vehicle yawing for ROI'''
self.context_push()
self.set_parameter("SYSID_MYGCS", self.mav.source_system)
yaw_servo = 7
self.setup_servo_mount(yaw_servo=yaw_servo)
self.reboot_sitl() # to handle MNT1_TYPE changing
self.progress("checking ArduCopter yaw-aircraft-for-roi")
ex = None
try:
self.takeoff(20, mode='GUIDED')
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
self.progress("current heading %u" % m.heading)
self.set_parameter("SERVO%u_FUNCTION" % yaw_servo, 0) # yaw
self.progress("Waiting for check_servo_map to do its job")
self.delay_sim_time(5)
self.progress("Pointing North")
self.guided_achieve_heading(0)
self.delay_sim_time(5)
start = self.mav.location()
(roi_lat, roi_lon) = mavextra.gps_offset(start.lat,
start.lng,
-100,
-100)
roi_alt = 0
self.progress("Using MAV_CMD_DO_SET_ROI")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_ROI,
0,
0,
0,
0,
roi_lat,
roi_lon,
roi_alt,
)
self.progress("Waiting for vehicle to point towards ROI")
self.wait_heading(225, timeout=600, minimum_duration=2)
# the following numbers are 1-degree-latitude and
# 0-degrees longitude - just so that we start to
# really move a lot.
there = mavutil.location(1, 0, 0, 0)
self.progress("Starting to move")
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,
MAV_POS_TARGET_TYPE_MASK.POS_ONLY | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE, # mask specifying use-only-lat-lon-alt
there.lat, # lat
there.lng, # lon
there.alt, # alt
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
self.progress("Starting to move changes the target")
bearing = self.bearing_to(there)
self.wait_heading(bearing, timeout=600, minimum_duration=2)
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_ROI,
0,
0,
0,
0,
roi_lat,
roi_lon,
roi_alt,
)
self.progress("Wait for vehicle to point sssse due to moving")
self.wait_heading(170, timeout=600, minimum_duration=1)
self.do_RTL()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
if ex is not None:
raise ex
def ThrowMode(self):
'''Fly Throw Mode'''
# test boomerang mode:
self.progress("Throwing vehicle away")
self.set_parameters({
"THROW_NEXTMODE": 6,
"SIM_SHOVE_Z": -30,
"SIM_SHOVE_X": -20,
})
self.change_mode('THROW')
self.wait_ready_to_arm()
self.arm_vehicle()
try:
self.set_parameter("SIM_SHOVE_TIME", 500)
except ValueError:
# the shove resets this to zero
pass
tstart = self.get_sim_time()
self.wait_mode('RTL')
max_good_tdelta = 15
tdelta = self.get_sim_time() - tstart
self.progress("Vehicle in RTL")
self.wait_rtl_complete()
self.progress("Vehicle disarmed")
if tdelta > max_good_tdelta:
raise NotAchievedException("Took too long to enter RTL: %fs > %fs" %
(tdelta, max_good_tdelta))
self.progress("Vehicle returned")
def hover_and_check_matched_frequency_with_fft(self, dblevel=-15, minhz=200, maxhz=300, peakhz=None,
reverse=None, takeoff=True):
# find a motor peak
if takeoff:
self.takeoff(10, mode="ALT_HOLD")
tstart, tend, hover_throttle = self.hover_for_interval(15)
self.do_RTL()
psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
# batch sampler defaults give 1024 fft and sample rate of 1kz so roughly 1hz/bin
freq = psd["F"][numpy.argmax(psd["X"][minhz:maxhz]) + minhz] * (1000. / 1024.)
peakdb = numpy.amax(psd["X"][minhz:maxhz])
if peakdb < dblevel or (peakhz is not None and abs(freq - peakhz) / peakhz > 0.05):
if reverse is not None:
self.progress("Did not detect a motor peak, found %fHz at %fdB" % (freq, peakdb))
else:
raise NotAchievedException("Did not detect a motor peak, found %fHz at %fdB" % (freq, peakdb))
else:
if reverse is not None:
raise NotAchievedException(
"Detected motor peak at %fHz, throttle %f%%, %fdB" %
(freq, hover_throttle, peakdb))
else:
self.progress("Detected motor peak at %fHz, throttle %f%%, %fdB" %
(freq, hover_throttle, peakdb))
return freq, hover_throttle, peakdb
def DynamicNotches(self):
"""Use dynamic harmonic notch to control motor noise."""
self.progress("Flying with dynamic notches")
self.context_push()
ex = None
try:
self.set_parameters({
"AHRS_EKF_TYPE": 10,
"INS_LOG_BAT_MASK": 3,
"INS_LOG_BAT_OPT": 0,
"INS_GYRO_FILTER": 100, # set the gyro filter high so we can observe behaviour
"LOG_BITMASK": 958,
"LOG_DISARMED": 0,
"SIM_VIB_MOT_MAX": 350,
"SIM_GYR1_RND": 20,
})
self.reboot_sitl()
self.takeoff(10, mode="ALT_HOLD")
# find a motor peak
freq, hover_throttle, peakdb = self.hover_and_check_matched_frequency_with_fft(-15, 200, 300)
# now add a dynamic notch and check that the peak is squashed
self.set_parameters({
"INS_LOG_BAT_OPT": 2,
"INS_HNTCH_ENABLE": 1,
"INS_HNTCH_FREQ": freq,
"INS_HNTCH_REF": hover_throttle/100.,
"INS_HNTCH_HMNCS": 5, # first and third harmonic
"INS_HNTCH_ATT": 50,
"INS_HNTCH_BW": freq/2,
})
self.reboot_sitl()
freq, hover_throttle, peakdb1 = self.hover_and_check_matched_frequency_with_fft(-10, 20, 350, reverse=True)
# now add double dynamic notches and check that the peak is squashed
self.set_parameter("INS_HNTCH_OPTS", 1)
self.reboot_sitl()
freq, hover_throttle, peakdb2 = self.hover_and_check_matched_frequency_with_fft(-15, 20, 350, reverse=True)
# double-notch should do better, but check for within 5%
if peakdb2 * 1.05 > peakdb1:
raise NotAchievedException(
"Double-notch peak was higher than single-notch peak %fdB > %fdB" %
(peakdb2, peakdb1))
# now add triple dynamic notches and check that the peak is squashed
self.set_parameter("INS_HNTCH_OPTS", 16)
self.reboot_sitl()
freq, hover_throttle, peakdb2 = self.hover_and_check_matched_frequency_with_fft(-15, 20, 350, reverse=True)
# triple-notch should do better, but check for within 5%
if peakdb2 * 1.05 > peakdb1:
raise NotAchievedException(
"Triple-notch peak was higher than single-notch peak %fdB > %fdB" %
(peakdb2, peakdb1))
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
if ex is not None:
raise ex
def DynamicRpmNotches(self):
"""Use dynamic harmonic notch to control motor noise via ESC telemetry."""
self.progress("Flying with ESC telemetry driven dynamic notches")
self.set_rc_default()
self.set_parameters({
"AHRS_EKF_TYPE": 10,
"INS_LOG_BAT_MASK": 3,
"INS_LOG_BAT_OPT": 0,
"INS_GYRO_FILTER": 100, # set gyro filter high so we can observe behaviour
"LOG_BITMASK": 958,
"LOG_DISARMED": 0,
"SIM_VIB_MOT_MAX": 350,
"SIM_GYR1_RND": 20,
"SIM_ESC_TELEM": 1
})
self.reboot_sitl()
self.takeoff(10, mode="ALT_HOLD")
# find a motor peak
freq, hover_throttle, peakdb = self.hover_and_check_matched_frequency_with_fft(-15, 200, 300)
# now add a dynamic notch and check that the peak is squashed
self.set_parameters({
"INS_LOG_BAT_OPT": 2,
"INS_HNTCH_ENABLE": 1,
"INS_HNTCH_FREQ": 80,
"INS_HNTCH_REF": 1.0,
"INS_HNTCH_HMNCS": 5, # first and third harmonic
"INS_HNTCH_ATT": 50,
"INS_HNTCH_BW": 40,
"INS_HNTCH_MODE": 3,
})
self.reboot_sitl()
freq, hover_throttle, peakdb1 = self.hover_and_check_matched_frequency_with_fft(-10, 20, 350, reverse=True)
# now add notch-per motor and check that the peak is squashed
self.set_parameter("INS_HNTCH_OPTS", 2)
self.reboot_sitl()
freq, hover_throttle, peakdb2 = self.hover_and_check_matched_frequency_with_fft(-15, 20, 350, reverse=True)
# notch-per-motor should do better, but check for within 5%
if peakdb2 * 1.05 > peakdb1:
raise NotAchievedException(
"Notch-per-motor peak was higher than single-notch peak %fdB > %fdB" %
(peakdb2, peakdb1))
# Now do it again for an octacopter
self.context_push()
ex = None
try:
self.progress("Flying Octacopter with ESC telemetry driven dynamic notches")
self.set_parameter("INS_HNTCH_OPTS", 0)
self.customise_SITL_commandline(
[],
defaults_filepath=','.join(self.model_defaults_filepath("octa")),
model="octa"
)
freq, hover_throttle, peakdb1 = self.hover_and_check_matched_frequency_with_fft(-10, 20, 350, reverse=True)
# now add notch-per motor and check that the peak is squashed
self.set_parameter("INS_HNTCH_HMNCS", 1)
self.set_parameter("INS_HNTCH_OPTS", 2)
self.reboot_sitl()
freq, hover_throttle, peakdb2 = self.hover_and_check_matched_frequency_with_fft(-15, 20, 350, reverse=True)
# notch-per-motor should do better, but check for within 5%
if peakdb2 * 1.05 > peakdb1:
raise NotAchievedException(
"Notch-per-motor peak was higher than single-notch peak %fdB > %fdB" %
(peakdb2, peakdb1))
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def hover_and_check_matched_frequency(self, dblevel=-15, minhz=200, maxhz=300, fftLength=32, peakhz=None):
'''do a simple up-and-down test flight with current vehicle state.
Check that the onboard filter comes up with the same peak-frequency that
post-processing does.'''
self.takeoff(10, mode="ALT_HOLD")
tstart, tend, hover_throttle = self.hover_for_interval(15)
self.do_RTL()
psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
# batch sampler defaults give 1024 fft and sample rate of 1kz so roughly 1hz/bin
scale = 1000. / 1024.
sminhz = int(minhz * scale)
smaxhz = int(maxhz * scale)
freq = psd["F"][numpy.argmax(psd["X"][sminhz:smaxhz]) + sminhz]
peakdb = numpy.amax(psd["X"][sminhz:smaxhz])
self.progress("Post-processing FFT detected motor peak at %fHz/%fdB, throttle %f%%" %
(freq, peakdb, hover_throttle))
if peakdb < dblevel:
raise NotAchievedException(
"Detected motor peak not strong enough; want=%fdB got=%fdB" %
(peakdb, dblevel))
# caller can supply an expected frequency:
if peakhz is not None and abs(freq - peakhz) / peakhz > 0.05:
raise NotAchievedException(
"Post-processing detected motor peak at wrong frequency; want=%fHz got=%fHz" %
(peakhz, freq))
# we have a peak make sure that the onboard filter detected
# something close logging is at 10Hz
# peak within resolution of FFT length
pkAvg, nmessages = self.extract_median_FTN1_PkAvg_from_current_onboard_log(tstart, tend)
self.progress("Onboard-FFT detected motor peak at %fHz (processed %d FTN1 messages)" % (pkAvg, nmessages))
# accuracy is determined by sample rate and fft length, given
# our use of quinn we could probably use half of this
freqDelta = 1000. / fftLength
if abs(pkAvg - freq) > freqDelta:
raise NotAchievedException(
"post-processed FFT does not agree with onboard filter on peak frequency; onboard=%fHz post-processed=%fHz/%fdB" % # noqa
(pkAvg, freq, dblevel)
)
return freq
def extract_median_FTN1_PkAvg_from_current_onboard_log(self, tstart, tend):
'''extracts FTN1 messages from log, returns median of pkAvg values and
the number of samples'''
mlog = self.dfreader_for_current_onboard_log()
freqs = []
while True:
m = mlog.recv_match(
type='FTN1',
blocking=False,
condition="FTN1.TimeUS>%u and FTN1.TimeUS<%u" % (tstart * 1.0e6, tend * 1.0e6))
if m is None:
break
freqs.append(m.PkAvg)
return numpy.median(numpy.asarray(freqs)), len(freqs)
def test_gyro_fft_harmonic(self, averaging):
"""Use dynamic harmonic notch to control motor noise with harmonic matching of the first harmonic."""
# basic gyro sample rate test
self.progress("Flying with gyro FFT harmonic - Gyro sample rate")
self.context_push()
ex = None
# we are dealing with probabalistic scenarios involving threads
try:
self.start_subtest("Hover to calculate approximate hover frequency")
# magic tridge EKF type that dramatically speeds up the test
self.set_parameters({
"AHRS_EKF_TYPE": 10,
"EK2_ENABLE": 0,
"EK3_ENABLE": 0,
"INS_LOG_BAT_MASK": 3,
"INS_LOG_BAT_OPT": 0,
"INS_GYRO_FILTER": 100,
"INS_FAST_SAMPLE": 0,
"LOG_BITMASK": 958,
"LOG_DISARMED": 0,
"SIM_DRIFT_SPEED": 0,
"SIM_DRIFT_TIME": 0,
"FFT_THR_REF": self.get_parameter("MOT_THST_HOVER"),
"SIM_GYR1_RND": 20, # enable a noisy gyro
})
# motor peak enabling FFT will also enable the arming
# check, self-testing the functionality
self.set_parameters({
"FFT_ENABLE": 1,
"FFT_MINHZ": 50,
"FFT_MAXHZ": 450,
"FFT_SNR_REF": 10,
})
if averaging:
self.set_parameter("FFT_NUM_FRAMES", 8)
# Step 1: inject actual motor noise and use the FFT to track it
self.set_parameters({
"SIM_VIB_MOT_MAX": 250, # gives a motor peak at about 175Hz
"FFT_WINDOW_SIZE": 64,
"FFT_WINDOW_OLAP": 0.75,
})
self.reboot_sitl()
freq = self.hover_and_check_matched_frequency(-15, 100, 250, 64)
# Step 2: add a second harmonic and check the first is still tracked
self.start_subtest("Add a fixed frequency harmonic at twice the hover frequency "
"and check the right harmonic is found")
self.set_parameters({
"SIM_VIB_FREQ_X": freq * 2,
"SIM_VIB_FREQ_Y": freq * 2,
"SIM_VIB_FREQ_Z": freq * 2,
"SIM_VIB_MOT_MULT": 0.25, # halve the motor noise so that the higher harmonic dominates
})
self.reboot_sitl()
self.hover_and_check_matched_frequency(-15, 100, 250, 64, None)
# Step 3: switch harmonics mid flight and check for tracking
self.start_subtest("Switch harmonics mid flight and check the right harmonic is found")
self.set_parameter("FFT_HMNC_PEAK", 0)
self.reboot_sitl()
self.takeoff(10, mode="ALT_HOLD")
hover_time = 10
tstart, tend_unused, hover_throttle = self.hover_for_interval(hover_time)
self.progress("Switching motor vibration multiplier")
self.set_parameter("SIM_VIB_MOT_MULT", 5.0)
tstart_unused, tend, hover_throttle = self.hover_for_interval(hover_time)
self.do_RTL()
# peak within resolution of FFT length, the highest energy peak switched but our detection should not
pkAvg, nmessages = self.extract_median_FTN1_PkAvg_from_current_onboard_log(tstart, tend)
freqDelta = 1000. / self.get_parameter("FFT_WINDOW_SIZE")
if abs(pkAvg - freq) > freqDelta:
raise NotAchievedException("FFT did not detect a harmonic motor peak, found %f, wanted %f" % (pkAvg, freq))
# Step 4: dynamic harmonic
self.start_subtest("Enable dynamic harmonics and make sure both frequency peaks are attenuated")
# find a motor peak
freq, hover_throttle, peakdb = self.hover_and_check_matched_frequency_with_fft(-15, 100, 350)
# now add a dynamic notch and check that the peak is squashed
self.set_parameters({
"INS_LOG_BAT_OPT": 2,
"INS_HNTCH_ENABLE": 1,
"INS_HNTCH_HMNCS": 1,
"INS_HNTCH_MODE": 4,
"INS_HNTCH_FREQ": freq,
"INS_HNTCH_REF": hover_throttle/100.0,
"INS_HNTCH_ATT": 100,
"INS_HNTCH_BW": freq/2,
"INS_HNTCH_OPTS": 3,
})
self.reboot_sitl()
# 5db is far in excess of the attenuation that the double dynamic-harmonic notch is able
# to provide (-7dB on average), but without the notch the peak is around 20dB so still a safe test
self.hover_and_check_matched_frequency_with_fft(5, 100, 350, reverse=True)
self.set_parameters({
"SIM_VIB_FREQ_X": 0,
"SIM_VIB_FREQ_Y": 0,
"SIM_VIB_FREQ_Z": 0,
"SIM_VIB_MOT_MULT": 1.0,
})
# prevent update parameters from messing with the settings when we pop the context
self.set_parameter("FFT_ENABLE", 0)
self.reboot_sitl()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
# need a final reboot because weird things happen to your
# vehicle state when switching back from EKF type 10!
self.reboot_sitl()
if ex is not None:
raise ex
def GyroFFTHarmonic(self):
"""Use dynamic harmonic notch to control motor noise with harmonic matching of the first harmonic."""
self.test_gyro_fft_harmonic(False)
def GyroFFTContinuousAveraging(self):
"""Use dynamic harmonic notch with FFT averaging to control motor noise
with harmonic matching of the first harmonic."""
self.test_gyro_fft_harmonic(True)
def GyroFFT(self):
"""Use dynamic harmonic notch to control motor noise."""
# basic gyro sample rate test
self.progress("Flying with gyro FFT - Gyro sample rate")
self.context_push()
ex = None
try:
# magic tridge EKF type that dramatically speeds up the test
self.set_parameters({
"AHRS_EKF_TYPE": 10,
"EK2_ENABLE": 0,
"EK3_ENABLE": 0,
"INS_LOG_BAT_MASK": 3,
"INS_LOG_BAT_OPT": 4,
"INS_GYRO_FILTER": 100,
"INS_FAST_SAMPLE": 0,
"LOG_BITMASK": 958,
"LOG_DISARMED": 0,
"SIM_DRIFT_SPEED": 0,
"SIM_DRIFT_TIME": 0,
"SIM_GYR1_RND": 20, # enable a noisy motor peak
})
# enabling FFT will also enable the arming check,
# self-testing the functionality
self.set_parameters({
"FFT_ENABLE": 1,
"FFT_MINHZ": 50,
"FFT_MAXHZ": 450,
"FFT_SNR_REF": 10,
"FFT_WINDOW_SIZE": 128,
"FFT_WINDOW_OLAP": 0.75,
"FFT_SAMPLE_MODE": 0,
})
# Step 1: inject a very precise noise peak at 250hz and make sure the in-flight fft
# can detect it really accurately. For a 128 FFT the frequency resolution is 8Hz so
# a 250Hz peak should be detectable within 5%
self.start_subtest("Inject noise at 250Hz and check the FFT can find the noise")
self.set_parameters({
"SIM_VIB_FREQ_X": 250,
"SIM_VIB_FREQ_Y": 250,
"SIM_VIB_FREQ_Z": 250,
})
self.reboot_sitl()
# find a motor peak
self.hover_and_check_matched_frequency(-15, 100, 350, 128, 250)
# Step 1b: run the same test with an FFT length of 256 which is needed to flush out a
# whole host of bugs related to uint8_t. This also tests very accurately the frequency resolution
self.set_parameter("FFT_WINDOW_SIZE", 256)
self.start_subtest("Inject noise at 250Hz and check the FFT can find the noise")
self.reboot_sitl()
# find a motor peak
self.hover_and_check_matched_frequency(-15, 100, 350, 256, 250)
self.set_parameter("FFT_WINDOW_SIZE", 128)
# Step 2: inject actual motor noise and use the standard length FFT to track it
self.start_subtest("Hover and check that the FFT can find the motor noise")
self.set_parameters({
"SIM_VIB_FREQ_X": 0,
"SIM_VIB_FREQ_Y": 0,
"SIM_VIB_FREQ_Z": 0,
"SIM_VIB_MOT_MAX": 250, # gives a motor peak at about 175Hz
"FFT_WINDOW_SIZE": 32,
"FFT_WINDOW_OLAP": 0.5,
})
self.reboot_sitl()
freq = self.hover_and_check_matched_frequency(-15, 100, 250, 32)
self.set_parameter("SIM_VIB_MOT_MULT", 1.)
# Step 3: add a FFT dynamic notch and check that the peak is squashed
self.start_subtest("Add a dynamic notch, hover and check that the noise peak is now gone")
self.set_parameters({
"INS_LOG_BAT_OPT": 2,
"INS_HNTCH_ENABLE": 1,
"INS_HNTCH_FREQ": freq,
"INS_HNTCH_REF": 1.0,
"INS_HNTCH_ATT": 50,
"INS_HNTCH_BW": freq/2,
"INS_HNTCH_MODE": 4,
})
self.reboot_sitl()
# do test flight:
self.takeoff(10, mode="ALT_HOLD")
tstart, tend, hover_throttle = self.hover_for_interval(15)
# fly fast forrest!
self.set_rc(3, 1900)
self.set_rc(2, 1200)
self.wait_groundspeed(5, 1000)
self.set_rc(3, 1500)
self.set_rc(2, 1500)
self.do_RTL()
psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
# batch sampler defaults give 1024 fft and sample rate of 1kz so roughly 1hz/bin
scale = 1000. / 1024.
sminhz = int(100 * scale)
smaxhz = int(350 * scale)
freq = psd["F"][numpy.argmax(psd["X"][sminhz:smaxhz]) + sminhz]
peakdb = numpy.amax(psd["X"][sminhz:smaxhz])
if peakdb < 0:
self.progress("Did not detect a motor peak, found %fHz at %fdB" % (freq, peakdb))
else:
raise NotAchievedException("Detected %fHz motor peak at %fdB" % (freq, peakdb))
# Step 4: loop sample rate test with larger window
self.start_subtest("Hover and check that the FFT can find the motor noise when running at fast loop rate")
# we are limited to half the loop rate for frequency detection
self.set_parameters({
"FFT_MAXHZ": 185,
"INS_LOG_BAT_OPT": 4,
"SIM_VIB_MOT_MAX": 220,
"FFT_WINDOW_SIZE": 64,
"FFT_WINDOW_OLAP": 0.75,
"FFT_SAMPLE_MODE": 1,
})
self.reboot_sitl()
# do test flight:
self.takeoff(10, mode="ALT_HOLD")
tstart, tend, hover_throttle = self.hover_for_interval(15)
self.do_RTL()
# why are we not checking the results from that flight? -pb20220613
# prevent update parameters from messing with the settings
# when we pop the context
self.set_parameter("FFT_ENABLE", 0)
self.reboot_sitl()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
# must reboot after we move away from EKF type 10 to EKF2 or EKF3
self.reboot_sitl()
if ex is not None:
raise ex
def GyroFFTAverage(self):
"""Use dynamic harmonic notch to control motor noise setup via FFT averaging."""
# basic gyro sample rate test
self.progress("Flying with gyro FFT harmonic - Gyro sample rate")
self.context_push()
ex = None
try:
# Step 1
self.start_subtest("Hover to calculate approximate hover frequency and see that it is tracked")
# magic tridge EKF type that dramatically speeds up the test
self.set_parameters({
"AHRS_EKF_TYPE": 10,
"EK2_ENABLE": 0,
"EK3_ENABLE": 0,
"INS_LOG_BAT_MASK": 3,
"INS_LOG_BAT_OPT": 2,
"INS_GYRO_FILTER": 100,
"INS_FAST_SAMPLE": 0,
"INS_HNTCH_ATT": 100,
"LOG_BITMASK": 958,
"LOG_DISARMED": 0,
"SIM_DRIFT_SPEED": 0,
"SIM_DRIFT_TIME": 0,
"SIM_GYR1_RND": 20, # enable a noisy gyro
})
# motor peak enabling FFT will also enable the arming
# check, self-testing the functionality
self.set_parameters({
"FFT_ENABLE": 1,
"FFT_WINDOW_SIZE": 64, # not the default, but makes the test more reliable
"FFT_SNR_REF": 10,
})
# Step 1: inject actual motor noise and use the FFT to track it
self.set_parameters({
"SIM_VIB_MOT_MAX": 250, # gives a motor peak at about 175Hz
"RC7_OPTION" : 162, # FFT tune
})
self.reboot_sitl()
# hover and engage FFT tracker
self.takeoff(10, mode="ALT_HOLD")
hover_time = 60
# start the tune
self.set_rc(7, 2000)
tstart, tend, hover_throttle = self.hover_for_interval(hover_time)
# finish the tune
self.set_rc(7, 1000)
psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
# batch sampler defaults give 1024 fft and sample rate of 1kz so roughly 1hz/bin
freq = psd["F"][numpy.argmax(psd["X"][50:450]) + 50] * (1000. / 1024.)
detected_ref = self.get_parameter("INS_HNTCH_REF")
detected_freq = self.get_parameter("INS_HNTCH_FREQ")
self.progress("FFT detected parameters were %fHz, ref %f" % (detected_freq, detected_ref))
# approximate the scaled frequency
scaled_freq_at_hover = math.sqrt((hover_throttle / 100.) / detected_ref) * detected_freq
# Check we matched
if abs(scaled_freq_at_hover - freq) / scaled_freq_at_hover > 0.05:
raise NotAchievedException("Detected frequency %fHz did not match required %fHz" %
(scaled_freq_at_hover, freq))
if self.get_parameter("INS_HNTCH_ENABLE") != 1:
raise NotAchievedException("Harmonic notch was not enabled")
# Step 2: now rerun the test and check that the peak is squashed
self.start_subtest("Verify that noise is suppressed by the harmonic notch")
self.hover_and_check_matched_frequency_with_fft(0, 100, 350, reverse=True, takeoff=False)
# Step 3: add a second harmonic and check the first is still tracked
self.start_subtest("Add a fixed frequency harmonic at twice the hover frequency "
"and check the right harmonic is found")
self.set_parameters({
"SIM_VIB_FREQ_X": freq * 2,
"SIM_VIB_FREQ_Y": freq * 2,
"SIM_VIB_FREQ_Z": freq * 2,
"SIM_VIB_MOT_MULT": 0.25, # halve the motor noise so that the higher harmonic dominates
})
self.reboot_sitl()
# hover and engage FFT tracker
self.takeoff(10, mode="ALT_HOLD")
hover_time = 60
# start the tune
self.set_rc(7, 2000)
tstart, tend, hover_throttle = self.hover_for_interval(hover_time)
# finish the tune
self.set_rc(7, 1000)
self.do_RTL()
detected_ref = self.get_parameter("INS_HNTCH_REF")
detected_freq = self.get_parameter("INS_HNTCH_FREQ")
self.progress("FFT detected parameters were %fHz, ref %f" % (detected_freq, detected_ref))
# approximate the scaled frequency
scaled_freq_at_hover = math.sqrt((hover_throttle / 100.) / detected_ref) * detected_freq
# Check we matched
if abs(scaled_freq_at_hover - freq) / scaled_freq_at_hover > 0.05:
raise NotAchievedException("Detected frequency %fHz did not match required %fHz" %
(scaled_freq_at_hover, freq))
if self.get_parameter("INS_HNTCH_ENABLE") != 1:
raise NotAchievedException("Harmonic notch was not enabled")
self.set_parameters({
"SIM_VIB_FREQ_X": 0,
"SIM_VIB_FREQ_Y": 0,
"SIM_VIB_FREQ_Z": 0,
"SIM_VIB_MOT_MULT": 1.0,
})
# prevent update parameters from messing with the settings when we pop the context
self.set_parameter("FFT_ENABLE", 0)
self.reboot_sitl()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
# need a final reboot because weird things happen to your
# vehicle state when switching back from EKF type 10!
self.reboot_sitl()
if ex is not None:
raise ex
def BrakeMode(self):
'''Fly Brake Mode'''
# test brake mode
self.progress("Testing brake mode")
self.takeoff(10, mode="LOITER")
self.progress("Ensuring RC inputs have no effect in brake mode")
self.change_mode("STABILIZE")
self.set_rc(3, 1500)
self.set_rc(2, 1200)
self.wait_groundspeed(5, 1000)
self.change_mode("BRAKE")
self.wait_groundspeed(0, 1)
self.set_rc(2, 1500)
self.do_RTL()
self.progress("Ran brake mode")
def fly_guided_move_to(self, destination, timeout=30):
'''move to mavutil.location location; absolute altitude'''
tstart = self.get_sim_time()
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
1, # target system_id
1, # target component id
mavutil.mavlink.MAV_FRAME_GLOBAL_INT,
MAV_POS_TARGET_TYPE_MASK.POS_ONLY | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE, # mask specifying use-only-lat-lon-alt
int(destination.lat * 1e7), # lat
int(destination.lng * 1e7), # lon
destination.alt, # alt
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
while True:
if self.get_sim_time() - tstart > timeout:
raise NotAchievedException()
delta = self.get_distance(self.mav.location(), destination)
self.progress("delta=%f (want <1)" % delta)
if delta < 1:
break
def AltTypes(self):
'''Test Different Altitude Types'''
'''start by disabling GCS failsafe, otherwise we immediately disarm
due to (apparently) not receiving traffic from the GCS for
too long. This is probably a function of --speedup'''
'''this test flies the vehicle somewhere lower than were it started.
It then disarms. It then arms, which should reset home to the
new, lower altitude. This delta should be outside 1m but
within a few metres of the old one.
'''
self.install_terrain_handlers_context()
self.set_parameter("FS_GCS_ENABLE", 0)
self.change_mode('GUIDED')
self.wait_ready_to_arm()
self.arm_vehicle()
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
max_initial_home_alt_m = 500
if m.relative_alt > max_initial_home_alt_m:
raise NotAchievedException("Initial home alt too high (%fm > %fm)" %
(m.relative_alt*1000, max_initial_home_alt_m*1000))
orig_home_offset_mm = m.alt - m.relative_alt
self.user_takeoff(5)
self.progress("Flying to low position")
current_alt = self.mav.location().alt
# 10m delta low_position = mavutil.location(-35.358273, 149.169165, current_alt, 0)
low_position = mavutil.location(-35.36200016, 149.16415599, current_alt, 0)
self.fly_guided_move_to(low_position, timeout=240)
self.change_mode('LAND')
# expecting home to change when disarmed
self.wait_landed_and_disarmed()
# wait a while for home to move (it shouldn't):
self.delay_sim_time(10)
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
new_home_offset_mm = m.alt - m.relative_alt
home_offset_delta_mm = orig_home_offset_mm - new_home_offset_mm
self.progress("new home offset: %f delta=%f" %
(new_home_offset_mm, home_offset_delta_mm))
self.progress("gpi=%s" % str(m))
max_home_offset_delta_mm = 10
if home_offset_delta_mm > max_home_offset_delta_mm:
raise NotAchievedException("Large home offset delta: want<%f got=%f" %
(max_home_offset_delta_mm, home_offset_delta_mm))
self.progress("Ensuring home moves when we arm")
self.change_mode('GUIDED')
self.wait_ready_to_arm()
self.arm_vehicle()
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
post_arming_home_offset_mm = m.alt - m.relative_alt
self.progress("post-arming home offset: %f" % (post_arming_home_offset_mm))
self.progress("gpi=%s" % str(m))
min_post_arming_home_offset_delta_mm = -2500
max_post_arming_home_offset_delta_mm = -4000
delta_between_original_home_alt_offset_and_new_home_alt_offset_mm = post_arming_home_offset_mm - orig_home_offset_mm
self.progress("delta=%f-%f=%f" % (
post_arming_home_offset_mm,
orig_home_offset_mm,
delta_between_original_home_alt_offset_and_new_home_alt_offset_mm))
self.progress("Home moved %fm vertically" % (delta_between_original_home_alt_offset_and_new_home_alt_offset_mm/1000.0))
if delta_between_original_home_alt_offset_and_new_home_alt_offset_mm > min_post_arming_home_offset_delta_mm:
raise NotAchievedException(
"Home did not move vertically on arming: want<=%f got=%f" %
(min_post_arming_home_offset_delta_mm, delta_between_original_home_alt_offset_and_new_home_alt_offset_mm))
if delta_between_original_home_alt_offset_and_new_home_alt_offset_mm < max_post_arming_home_offset_delta_mm:
raise NotAchievedException(
"Home moved too far vertically on arming: want>=%f got=%f" %
(max_post_arming_home_offset_delta_mm, delta_between_original_home_alt_offset_and_new_home_alt_offset_mm))
self.wait_disarmed()
def PrecisionLoiterCompanion(self):
"""Use Companion PrecLand backend precision messages to loiter."""
self.context_push()
ex = None
try:
self.set_parameters({
"PLND_ENABLED": 1,
"PLND_TYPE": 1, # enable companion backend:
"RC7_OPTION": 39, # set up a channel switch to enable precision loiter:
})
self.set_analog_rangefinder_parameters()
self.reboot_sitl()
self.progress("Waiting for location")
self.change_mode('LOITER')
self.wait_ready_to_arm()
# we should be doing precision loiter at this point
start = self.assert_receive_message('LOCAL_POSITION_NED')
self.takeoff(20, mode='ALT_HOLD')
# move away a little
self.set_rc(2, 1550)
self.wait_distance(5, accuracy=1)
self.set_rc(2, 1500)
self.change_mode('LOITER')
# turn precision loiter on:
self.context_collect('STATUSTEXT')
self.set_rc(7, 2000)
# try to drag aircraft to a position 5 metres north-east-east:
self.precision_loiter_to_pos(start.x + 5, start.y + 10, start.z + 10)
self.wait_statustext("PrecLand: Target Found", check_context=True, timeout=10)
self.wait_statustext("PrecLand: Init Complete", check_context=True, timeout=10)
# .... then northwest
self.precision_loiter_to_pos(start.x + 5, start.y - 10, start.z + 10)
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.disarm_vehicle(force=True)
self.reboot_sitl()
self.progress("All done")
if ex is not None:
raise ex
def loiter_requires_position(self):
# ensure we can't switch to LOITER without position
self.progress("Ensure we can't enter LOITER without position")
self.context_push()
self.set_parameters({
"GPS_TYPE": 2,
"SIM_GPS_DISABLE": 1,
})
# if there is no GPS at all then we must direct EK3 to not use
# it at all. Otherwise it will never initialise, as it wants
# to calculate the lag and size its delay buffers accordingly.
self.set_parameters({
"EK3_SRC1_POSXY": 0,
"EK3_SRC1_VELZ": 0,
"EK3_SRC1_VELXY": 0,
})
self.reboot_sitl()
# check for expected EKF flags
ahrs_ekf_type = self.get_parameter("AHRS_EKF_TYPE")
expected_ekf_flags = (mavutil.mavlink.ESTIMATOR_ATTITUDE |
mavutil.mavlink.ESTIMATOR_VELOCITY_VERT |
mavutil.mavlink.ESTIMATOR_POS_VERT_ABS |
mavutil.mavlink.ESTIMATOR_CONST_POS_MODE)
if ahrs_ekf_type == 2:
expected_ekf_flags = expected_ekf_flags | mavutil.mavlink.ESTIMATOR_PRED_POS_HORIZ_REL
self.wait_ekf_flags(expected_ekf_flags, 0, timeout=120)
# arm in Stabilize and attempt to switch to Loiter
self.change_mode('STABILIZE')
self.arm_vehicle()
self.context_collect('STATUSTEXT')
self.run_cmd_do_set_mode(
"LOITER",
want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.wait_statustext("requires position", check_context=True)
self.disarm_vehicle()
self.context_pop()
self.reboot_sitl()
def ArmFeatures(self):
'''Arm features'''
self.loiter_requires_position()
super(AutoTestCopter, self).ArmFeatures()
def ParameterChecks(self):
'''Test Arming Parameter Checks'''
self.test_parameter_checks_poscontrol("PSC")
def PosHoldTakeOff(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.set_rc(3, 1000)
self.wait_ready_to_arm()
self.arm_vehicle()
self.delay_sim_time(2)
# 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 up")
self.set_rc(3, 1710)
self.delay_sim_time(0.5)
self.progress("Bringing back to hover throttle")
self.set_rc(3, 1500)
# make sure we haven't already reached alt:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
max_initial_alt = 2000
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 initial_mode(self):
return "STABILIZE"
def initial_mode_switch_mode(self):
return "STABILIZE"
def default_mode(self):
return "STABILIZE"
def rc_defaults(self):
ret = super(AutoTestCopter, self).rc_defaults()
ret[3] = 1000
ret[5] = 1800 # mode switch
return ret
def MANUAL_CONTROL(self):
'''test MANUAL_CONTROL mavlink message'''
self.set_parameter("SYSID_MYGCS", self.mav.source_system)
self.change_mode('STABILIZE')
self.takeoff(10)
tstart = self.get_sim_time_cached()
want_pitch_degrees = -12
while True:
if self.get_sim_time_cached() - tstart > 10:
raise AutoTestTimeoutException("Did not reach pitch")
self.progress("Sending pitch-forward")
self.mav.mav.manual_control_send(
1, # target system
500, # x (pitch)
32767, # y (roll)
32767, # z (thrust)
32767, # r (yaw)
0) # button mask
m = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=1)
print("m=%s" % str(m))
if m is None:
continue
p = math.degrees(m.pitch)
self.progress("pitch=%f want<=%f" % (p, want_pitch_degrees))
if p <= want_pitch_degrees:
break
self.mav.mav.manual_control_send(
1, # target system
32767, # x (pitch)
32767, # y (roll)
32767, # z (thrust)
32767, # r (yaw)
0) # button mask
self.do_RTL()
def check_avoidance_corners(self):
self.takeoff(10, mode="LOITER")
self.set_rc(2, 1400)
west_loc = mavutil.location(-35.363007,
149.164911,
0,
0)
self.wait_location(west_loc, accuracy=6)
north_loc = mavutil.location(-35.362908,
149.165051,
0,
0)
self.reach_heading_manual(0)
self.wait_location(north_loc, accuracy=6, timeout=200)
self.reach_heading_manual(90)
east_loc = mavutil.location(-35.363013,
149.165194,
0,
0)
self.wait_location(east_loc, accuracy=6)
self.reach_heading_manual(225)
self.wait_location(west_loc, accuracy=6, timeout=200)
self.set_rc(2, 1500)
self.do_RTL()
def OBSTACLE_DISTANCE_3D_test_angle(self, angle):
now = self.get_sim_time_cached()
distance = 15
right = distance * math.sin(math.radians(angle))
front = distance * math.cos(math.radians(angle))
down = 0
expected_distance_cm = distance * 100
# expected orientation
expected_orientation = int((angle+22.5)/45) % 8
self.progress("Angle %f expected orient %u" %
(angle, expected_orientation))
tstart = self.get_sim_time()
last_send = 0
m = None
while True:
now = self.get_sim_time_cached()
if now - tstart > 100:
raise NotAchievedException("Did not get correct angle back (last-message=%s)" % str(m))
if now - last_send > 0.1:
self.progress("ang=%f sending front=%f right=%f" %
(angle, front, right))
self.mav.mav.obstacle_distance_3d_send(
int(now*1000), # time_boot_ms
mavutil.mavlink.MAV_DISTANCE_SENSOR_LASER,
mavutil.mavlink.MAV_FRAME_BODY_FRD,
65535,
front, # x (m)
right, # y (m)
down, # z (m)
0, # min_distance (m)
20 # max_distance (m)
)
last_send = now
m = self.mav.recv_match(type="DISTANCE_SENSOR",
blocking=True,
timeout=1)
if m is None:
continue
# self.progress("Got (%s)" % str(m))
if m.orientation != expected_orientation:
# self.progress("Wrong orientation (want=%u got=%u)" %
# (expected_orientation, m.orientation))
continue
if abs(m.current_distance - expected_distance_cm) > 1:
# self.progress("Wrong distance (want=%f got=%f)" %
# (expected_distance_cm, m.current_distance))
continue
self.progress("distance-at-angle good")
break
def OBSTACLE_DISTANCE_3D(self):
'''Check round-trip behaviour of distance sensors'''
self.context_push()
self.set_parameters({
"SERIAL5_PROTOCOL": 1,
"PRX1_TYPE": 2,
"SIM_SPEEDUP": 8, # much GCS interaction
})
self.reboot_sitl()
# need yaw estimate to stabilise:
self.wait_ekf_happy(require_absolute=True)
for angle in range(0, 360):
self.OBSTACLE_DISTANCE_3D_test_angle(angle)
self.context_pop()
self.reboot_sitl()
def fly_proximity_avoidance_test_corners(self):
self.start_subtest("Corners")
self.context_push()
ex = None
try:
self.load_fence("copter-avoidance-fence.txt")
self.set_parameters({
"FENCE_ENABLE": 1,
"PRX1_TYPE": 10,
"PRX_LOG_RAW": 1,
"RC10_OPTION": 40, # proximity-enable
})
self.reboot_sitl()
self.progress("Enabling proximity")
self.set_rc(10, 2000)
self.check_avoidance_corners()
self.assert_current_onboard_log_contains_message("PRX")
self.assert_current_onboard_log_contains_message("PRXR")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.clear_fence()
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex is not None:
raise ex
def ProximitySensors(self):
'''ensure proximity sensors return appropriate data'''
self.set_parameters({
"SERIAL5_PROTOCOL": 11,
"OA_DB_OUTPUT": 3,
"OA_TYPE": 2,
})
sensors = [ # tuples of name, prx_type
('sf45b', 8, {
mavutil.mavlink.MAV_SENSOR_ROTATION_NONE: 292,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_45: 257,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_90: 1130,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_135: 1283,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_180: 627,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_225: 967,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_270: 760,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_315: 762,
}),
('rplidara2', 5, {
mavutil.mavlink.MAV_SENSOR_ROTATION_NONE: 277,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_45: 256,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_90: 1130,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_135: 1288,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_180: 626,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_225: 970,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_270: 762,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_315: 790,
}),
('terarangertower', 3, {
mavutil.mavlink.MAV_SENSOR_ROTATION_NONE: 450,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_45: 282,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_90: 450,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_135: 450,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_180: 450,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_225: 450,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_270: 450,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_315: 450,
}),
]
# the following is a "magic" location SITL understands which
# has some posts near it:
home_string = "%s,%s,%s,%s" % (51.8752066, 14.6487840, 54.15, 0)
for (name, prx_type, expected_distances) in sensors:
self.start_subtest("Testing %s" % name)
self.set_parameter("PRX1_TYPE", prx_type)
self.customise_SITL_commandline([
"--uartF=sim:%s:" % name,
"--home", home_string,
])
self.wait_ready_to_arm()
expected_distances_copy = copy.copy(expected_distances)
tstart = self.get_sim_time()
failed = False
wants = []
gots = []
while True:
if self.get_sim_time_cached() - tstart > 30:
raise AutoTestTimeoutException("Failed to get distances")
if len(expected_distances_copy.keys()) == 0:
break
m = self.assert_receive_message("DISTANCE_SENSOR")
if m.orientation not in expected_distances_copy:
continue
got = m.current_distance
want = expected_distances_copy[m.orientation]
wants.append(want)
gots.append(got)
if abs(want - got) > 5:
failed = True
del expected_distances_copy[m.orientation]
if failed:
raise NotAchievedException(
"Distance too great (%s) (want=%s != got=%s)" %
(name, wants, gots))
def fly_proximity_avoidance_test_alt_no_avoid(self):
self.start_subtest("Alt-no-avoid")
self.context_push()
ex = None
try:
self.set_parameters({
"PRX1_TYPE": 2,
"AVOID_ALT_MIN": 10,
})
self.set_analog_rangefinder_parameters()
self.reboot_sitl()
tstart = self.get_sim_time()
self.change_mode('LOITER')
while True:
if self.armed():
break
if self.get_sim_time_cached() - tstart > 60:
raise AutoTestTimeoutException("Did not arm")
self.mav.mav.distance_sensor_send(
0, # time_boot_ms
10, # min_distance cm
500, # max_distance cm
400, # current_distance cm
mavutil.mavlink.MAV_DISTANCE_SENSOR_LASER, # type
26, # id
mavutil.mavlink.MAV_SENSOR_ROTATION_NONE, # orientation
255 # covariance
)
self.send_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0)
self.wait_heartbeat()
self.takeoff(15, mode='LOITER')
self.progress("Poking vehicle; should avoid")
def shove(a, b):
self.mav.mav.distance_sensor_send(
0, # time_boot_ms
10, # min_distance cm
500, # max_distance cm
20, # current_distance cm
mavutil.mavlink.MAV_DISTANCE_SENSOR_LASER, # type
21, # id
mavutil.mavlink.MAV_SENSOR_ROTATION_NONE, # orientation
255 # covariance
)
self.wait_speed_vector_bf(
Vector3(-0.4, 0.0, 0.0),
timeout=10,
called_function=shove,
)
self.change_alt(5)
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 10:
break
vel = self.get_body_frame_velocity()
if vel.length() > 0.3:
raise NotAchievedException("Moved too much (%s)" %
(str(vel),))
shove(None, None)
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))
ex = e
self.context_pop()
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex is not None:
raise ex
def AC_Avoidance_Proximity(self):
'''Test proximity avoidance slide behaviour'''
self.fly_proximity_avoidance_test_alt_no_avoid()
self.fly_proximity_avoidance_test_corners()
def AC_Avoidance_Fence(self):
'''Test fence avoidance slide behaviour'''
self.context_push()
ex = None
try:
self.load_fence("copter-avoidance-fence.txt")
self.set_parameter("FENCE_ENABLE", 1)
self.check_avoidance_corners()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.clear_fence()
self.disarm_vehicle(force=True)
if ex is not None:
raise ex
def global_position_int_for_location(self, loc, time_boot, heading=0):
return self.mav.mav.global_position_int_encode(
int(time_boot * 1000), # time_boot_ms
int(loc.lat * 1e7),
int(loc.lng * 1e7),
int(loc.alt * 1000), # alt in mm
20, # relative alt - urp.
vx=0,
vy=0,
vz=0,
hdg=heading
)
def ModeFollow(self):
'''Fly follow mode'''
foll_ofs_x = 30 # metres
self.set_parameters({
"FOLL_ENABLE": 1,
"FOLL_SYSID": self.mav.source_system,
"FOLL_OFS_X": -foll_ofs_x,
"FOLL_OFS_TYPE": 1, # relative to other vehicle heading
})
self.takeoff(10, mode="LOITER")
self.set_parameter("SIM_SPEEDUP", 1)
self.change_mode("FOLLOW")
new_loc = self.mav.location()
new_loc_offset_n = 20
new_loc_offset_e = 30
self.location_offset_ne(new_loc, new_loc_offset_n, new_loc_offset_e)
self.progress("new_loc: %s" % str(new_loc))
heading = 0
if self.mavproxy is not None:
self.mavproxy.send("map icon %f %f greenplane %f\n" %
(new_loc.lat, new_loc.lng, heading))
expected_loc = copy.copy(new_loc)
self.location_offset_ne(expected_loc, -foll_ofs_x, 0)
if self.mavproxy is not None:
self.mavproxy.send("map icon %f %f hoop\n" %
(expected_loc.lat, expected_loc.lng))
self.progress("expected_loc: %s" % str(expected_loc))
last_sent = 0
tstart = self.get_sim_time()
while True:
now = self.get_sim_time_cached()
if now - tstart > 60:
raise NotAchievedException("Did not FOLLOW")
if now - last_sent > 0.5:
gpi = self.global_position_int_for_location(new_loc,
now,
heading=heading)
gpi.pack(self.mav.mav)
self.mav.mav.send(gpi)
self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
pos = self.mav.location()
delta = self.get_distance(expected_loc, pos)
max_delta = 3
self.progress("position delta=%f (want <%f)" % (delta, max_delta))
if delta < max_delta:
break
self.do_RTL()
def get_global_position_int(self, timeout=30):
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Did not get good global_position_int")
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=1)
self.progress("GPI: %s" % str(m))
if m is None:
continue
if m.lat != 0 or m.lon != 0:
return m
def BeaconPosition(self):
'''Fly Beacon Position'''
self.reboot_sitl()
self.wait_ready_to_arm(require_absolute=True)
old_pos = self.get_global_position_int()
print("old_pos=%s" % str(old_pos))
self.context_push()
ex = None
try:
self.set_parameters({
"BCN_TYPE": 10,
"BCN_LATITUDE": SITL_START_LOCATION.lat,
"BCN_LONGITUDE": SITL_START_LOCATION.lng,
"BCN_ALT": SITL_START_LOCATION.alt,
"BCN_ORIENT_YAW": 0,
"AVOID_ENABLE": 4,
"GPS_TYPE": 0,
"EK3_ENABLE": 1,
"EK3_SRC1_POSXY": 4, # Beacon
"EK3_SRC1_POSZ": 1, # Baro
"EK3_SRC1_VELXY": 0, # None
"EK3_SRC1_VELZ": 0, # None
"EK2_ENABLE": 0,
"AHRS_EKF_TYPE": 3,
})
self.reboot_sitl()
# turn off GPS arming checks. This may be considered a
# bug that we need to do this.
old_arming_check = int(self.get_parameter("ARMING_CHECK"))
if old_arming_check == 1:
old_arming_check = 1 ^ 25 - 1
new_arming_check = int(old_arming_check) & ~(1 << 3)
self.set_parameter("ARMING_CHECK", new_arming_check)
self.reboot_sitl()
# require_absolute=True infers a GPS is present
self.wait_ready_to_arm(require_absolute=False)
tstart = self.get_sim_time()
timeout = 20
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Did not get new position like old position")
self.progress("Fetching location")
new_pos = self.get_global_position_int()
pos_delta = self.get_distance_int(old_pos, new_pos)
max_delta = 1
self.progress("delta=%u want <= %u" % (pos_delta, max_delta))
if pos_delta <= max_delta:
break
self.progress("Moving to ensure location is tracked")
self.takeoff(10, mode="STABILIZE")
self.change_mode("CIRCLE")
tstart = self.get_sim_time()
max_delta = 0
max_allowed_delta = 10
while True:
if self.get_sim_time_cached() - tstart > timeout:
break
pos_delta = self.get_distance_int(self.sim_location_int(), self.get_global_position_int())
self.progress("pos_delta=%f max_delta=%f max_allowed_delta=%f" % (pos_delta, max_delta, max_allowed_delta))
if pos_delta > max_delta:
max_delta = pos_delta
if pos_delta > max_allowed_delta:
raise NotAchievedException("Vehicle location not tracking simulated location (%f > %f)" %
(pos_delta, max_allowed_delta))
self.progress("Tracked location just fine (max_delta=%f)" % max_delta)
self.change_mode("LOITER")
self.wait_groundspeed(0, 0.3, timeout=120)
self.land_and_disarm()
self.assert_current_onboard_log_contains_message("BCN")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.disarm_vehicle(force=True)
self.reboot_sitl()
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def AC_Avoidance_Beacon(self):
'''Test beacon avoidance slide behaviour'''
self.context_push()
ex = None
try:
self.set_parameters({
"BCN_TYPE": 10,
"BCN_LATITUDE": int(SITL_START_LOCATION.lat),
"BCN_LONGITUDE": int(SITL_START_LOCATION.lng),
"BCN_ORIENT_YAW": 45,
"AVOID_ENABLE": 4,
})
self.reboot_sitl()
self.takeoff(10, mode="LOITER")
self.set_rc(2, 1400)
west_loc = mavutil.location(-35.362919, 149.165055, 0, 0)
self.wait_location(west_loc, accuracy=7)
self.reach_heading_manual(0)
north_loc = mavutil.location(-35.362881, 149.165103, 0, 0)
self.wait_location(north_loc, accuracy=7)
self.set_rc(2, 1500)
self.set_rc(1, 1600)
east_loc = mavutil.location(-35.362986, 149.165227, 0, 0)
self.wait_location(east_loc, accuracy=7)
self.set_rc(1, 1500)
self.set_rc(2, 1600)
south_loc = mavutil.location(-35.363025, 149.165182, 0, 0)
self.wait_location(south_loc, accuracy=7)
self.set_rc(2, 1500)
self.do_RTL()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.clear_fence()
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex is not None:
raise ex
def BaroWindCorrection(self):
'''Test wind estimation and baro position error compensation'''
self.context_push()
ex = None
try:
self.customise_SITL_commandline(
["--defaults", ','.join(self.model_defaults_filepath('Callisto'))],
model="octa-quad:@ROMFS/models/Callisto.json",
wipe=True,
)
wind_spd_truth = 8.0
wind_dir_truth = 90.0
self.set_parameters({
"EK3_ENABLE": 1,
"EK2_ENABLE": 0,
"AHRS_EKF_TYPE": 3,
"BARO1_WCF_ENABLE": 1.000000,
})
self.reboot_sitl()
self.set_parameters({
"BARO1_WCF_FWD": -0.300000,
"BARO1_WCF_BCK": -0.300000,
"BARO1_WCF_RGT": 0.300000,
"BARO1_WCF_LFT": 0.300000,
"SIM_BARO_WCF_FWD": -0.300000,
"SIM_BARO_WCF_BAK": -0.300000,
"SIM_BARO_WCF_RGT": 0.300000,
"SIM_BARO_WCF_LFT": 0.300000,
"SIM_WIND_DIR": wind_dir_truth,
"SIM_WIND_SPD": wind_spd_truth,
"SIM_WIND_T": 1.000000,
})
self.reboot_sitl()
# require_absolute=True infers a GPS is present
self.wait_ready_to_arm(require_absolute=False)
self.progress("Climb to 20m in LOITER and yaw spin for 30 seconds")
self.takeoff(10, mode="LOITER")
self.set_rc(4, 1400)
self.delay_sim_time(30)
# check wind esitmates
m = self.mav.recv_match(type='WIND', blocking=True)
speed_error = abs(m.speed - wind_spd_truth)
angle_error = abs(m.direction - wind_dir_truth)
if (speed_error > 1.0):
raise NotAchievedException("Wind speed incorrect - want %f +-1 got %f m/s" % (wind_spd_truth, m.speed))
if (angle_error > 15.0):
raise NotAchievedException(
"Wind direction incorrect - want %f +-15 got %f deg" %
(wind_dir_truth, m.direction))
self.progress("Wind estimate is good, now check height variation for 30 seconds")
# check height stability over another 30 seconds
z_min = 1E6
z_max = -1E6
tstart = self.get_sim_time()
while (self.get_sim_time() < tstart + 30):
m = self.mav.recv_match(type='LOCAL_POSITION_NED', blocking=True)
if (m.z > z_max):
z_max = m.z
if (m.z < z_min):
z_min = m.z
if (z_max-z_min > 0.5):
raise NotAchievedException("Height variation is excessive")
self.progress("Height variation is good")
self.set_rc(4, 1500)
self.land_and_disarm()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.disarm_vehicle(force=True)
self.reboot_sitl()
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def wait_generator_speed_and_state(self, rpm_min, rpm_max, want_state, timeout=240):
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Did not move to state/speed")
m = self.assert_receive_message("GENERATOR_STATUS", timeout=10)
if m.generator_speed < rpm_min:
self.progress("Too slow (%u<%u)" % (m.generator_speed, rpm_min))
continue
if m.generator_speed > rpm_max:
self.progress("Too fast (%u>%u)" % (m.generator_speed, rpm_max))
continue
if m.status != want_state:
self.progress("Wrong state (got=%u want=%u)" % (m.status, want_state))
break
self.progress("Got generator speed and state")
def RichenPower(self):
'''Test RichenPower generator'''
self.set_parameters({
"SERIAL5_PROTOCOL": 30,
"SIM_RICH_ENABLE": 1,
"SERVO8_FUNCTION": 42,
"SIM_RICH_CTRL": 8,
"RC9_OPTION": 85,
"LOG_DISARMED": 1,
"BATT2_MONITOR": 17,
"GEN_TYPE": 3,
})
self.reboot_sitl()
self.set_rc(9, 1000) # remember this is a switch position - stop
self.customise_SITL_commandline(["--uartF=sim:richenpower"])
self.wait_statustext("requested state is not RUN", timeout=60)
self.set_message_rate_hz("GENERATOR_STATUS", 10)
self.wait_generator_speed_and_state(0, 0, mavutil.mavlink.MAV_GENERATOR_STATUS_FLAG_OFF)
self.context_collect('STATUSTEXT')
self.set_rc(9, 2000) # remember this is a switch position - run
self.wait_statustext("Generator HIGH", check_context=True)
self.set_rc(9, 1000) # remember this is a switch position - stop
self.wait_statustext("requested state is not RUN", timeout=200)
self.set_rc(9, 1500) # remember this is a switch position - idle
self.wait_generator_speed_and_state(3000, 8000, mavutil.mavlink.MAV_GENERATOR_STATUS_FLAG_IDLE)
self.set_rc(9, 2000) # remember this is a switch position - run
# self.wait_generator_speed_and_state(3000, 30000, mavutil.mavlink.MAV_GENERATOR_STATUS_FLAG_WARMING_UP)
self.wait_generator_speed_and_state(8000, 30000, mavutil.mavlink.MAV_GENERATOR_STATUS_FLAG_GENERATING)
bs = self.mav.recv_match(
type="BATTERY_STATUS",
condition="BATTERY_STATUS.id==1", # id is zero-indexed
timeout=1,
blocking=True
)
if bs is None:
raise NotAchievedException("Did not receive BATTERY_STATUS")
self.progress("Received battery status: %s" % str(bs))
want_bs_volt = 50000
if bs.voltages[0] != want_bs_volt:
raise NotAchievedException("Battery voltage not as expected (want=%f) got=(%f)" % (want_bs_volt, bs.voltages[0],))
self.progress("Moving *back* to idle")
self.set_rc(9, 1500) # remember this is a switch position - idle
self.wait_generator_speed_and_state(3000, 10000, mavutil.mavlink.MAV_GENERATOR_STATUS_FLAG_IDLE)
self.progress("Moving *back* to run")
self.set_rc(9, 2000) # remember this is a switch position - run
self.wait_generator_speed_and_state(8000, 30000, mavutil.mavlink.MAV_GENERATOR_STATUS_FLAG_GENERATING)
self.set_message_rate_hz("GENERATOR_STATUS", -1)
self.set_parameter("LOG_DISARMED", 0)
if not self.current_onboard_log_contains_message("GEN"):
raise NotAchievedException("Did not find expected GEN message")
def IE24(self):
'''Test IntelligentEnergy 2.4kWh generator'''
self.context_push()
ex = None
try:
self.set_parameters({
"SERIAL5_PROTOCOL": 30,
"SERIAL5_BAUD": 115200,
"GEN_TYPE": 2,
"BATT2_MONITOR": 17,
"SIM_IE24_ENABLE": 1,
"LOG_DISARMED": 1,
})
self.customise_SITL_commandline(["--uartF=sim:ie24"])
self.wait_ready_to_arm()
self.arm_vehicle()
self.disarm_vehicle()
# Test for pre-arm check fail when state is not running
self.start_subtest("If you haven't taken off generator error should cause instant failsafe and disarm")
self.set_parameter("SIM_IE24_STATE", 8)
self.wait_statustext("Status not running", timeout=40)
self.try_arm(result=False,
expect_msg="Status not running")
self.set_parameter("SIM_IE24_STATE", 2) # Explicitly set state to running
# Test that error code does result in failsafe
self.start_subtest("If you haven't taken off generator error should cause instant failsafe and disarm")
self.change_mode("STABILIZE")
self.set_parameter("DISARM_DELAY", 0)
self.arm_vehicle()
self.set_parameter("SIM_IE24_ERROR", 30)
self.disarm_wait(timeout=1)
self.set_parameter("SIM_IE24_ERROR", 0)
self.set_parameter("DISARM_DELAY", 10)
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
if ex is not None:
raise ex
def AuxSwitchOptions(self):
'''Test random aux mode options'''
self.set_parameter("RC7_OPTION", 58) # clear waypoints
self.load_mission("copter_loiter_to_alt.txt")
self.set_rc(7, 1000)
self.assert_mission_count(5)
self.progress("Clear mission")
self.set_rc(7, 2000)
self.delay_sim_time(1) # allow switch to debounce
self.assert_mission_count(0)
self.set_rc(7, 1000)
self.set_parameter("RC7_OPTION", 24) # reset mission
self.delay_sim_time(2)
self.load_mission("copter_loiter_to_alt.txt")
set_wp = 4
self.set_current_waypoint(set_wp)
self.wait_current_waypoint(set_wp, timeout=10)
self.progress("Reset mission")
self.set_rc(7, 2000)
self.delay_sim_time(1)
self.wait_current_waypoint(0, timeout=10)
self.set_rc(7, 1000)
def AuxFunctionsInMission(self):
'''Test use of auxilliary functions in missions'''
self.load_mission("aux_functions.txt")
self.change_mode('LOITER')
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('AUTO')
self.set_rc(3, 1500)
self.wait_mode('ALT_HOLD')
self.change_mode('AUTO')
self.wait_rtl_complete()
def fly_rangefinder_drivers_fly(self, rangefinders):
'''ensure rangefinder gives height-above-ground'''
self.change_mode('GUIDED')
self.wait_ready_to_arm()
self.arm_vehicle()
expected_alt = 5
self.user_takeoff(alt_min=expected_alt)
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) > 1:
raise NotAchievedException(
"rangefinder alt (%s) disagrees with global-position-int.relative_alt (%s)" %
(rf.distance, gpi.relative_alt/1000.0)
)
for i in range(0, len(rangefinders)):
name = rangefinders[i]
self.progress("i=%u (%s)" % (i, name))
ds = self.mav.recv_match(
type="DISTANCE_SENSOR",
timeout=2,
blocking=True,
condition="DISTANCE_SENSOR.id==%u" % i
)
if ds is None:
raise NotAchievedException("Did not receive DISTANCE_SENSOR message for id==%u (%s)" % (i, name))
self.progress("Got: %s" % str(ds))
if abs(ds.current_distance/100.0 - gpi.relative_alt/1000.0) > 1:
raise NotAchievedException(
"distance sensor.current_distance (%f) (%s) disagrees with global-position-int.relative_alt (%s)" %
(ds.current_distance/100.0, name, gpi.relative_alt/1000.0))
self.land_and_disarm()
self.progress("Ensure RFND messages in log")
if not self.current_onboard_log_contains_message("RFND"):
raise NotAchievedException("No RFND messages in log")
def MAVProximity(self):
'''Test MAVLink proximity driver'''
self.start_subtest("Test mavlink proximity sensor using DISTANCE_SENSOR messages") # noqa
self.context_push()
ex = None
try:
self.set_parameter("SERIAL5_PROTOCOL", 1)
self.set_parameter("PRX1_TYPE", 2) # mavlink
self.reboot_sitl()
self.progress("Should be unhealthy while we don't send messages")
self.assert_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_PROXIMITY, True, True, False)
self.progress("Should be healthy while we're sending good messages")
tstart = self.get_sim_time()
while True:
if self.get_sim_time() - tstart > 5:
raise NotAchievedException("Sensor did not come good")
self.mav.mav.distance_sensor_send(
0, # time_boot_ms
10, # min_distance cm
50, # max_distance cm
20, # current_distance cm
mavutil.mavlink.MAV_DISTANCE_SENSOR_LASER, # type
21, # id
mavutil.mavlink.MAV_SENSOR_ROTATION_NONE, # orientation
255 # covariance
)
if self.sensor_has_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_PROXIMITY, True, True, True):
self.progress("Sensor has good state")
break
self.delay_sim_time(0.1)
self.progress("Should be unhealthy again if we stop sending messages")
self.delay_sim_time(1)
self.assert_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_PROXIMITY, True, True, False)
# now make sure we get echoed back the same sorts of things we send:
# distances are in cm
distance_map = {
mavutil.mavlink.MAV_SENSOR_ROTATION_NONE: 30,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_45: 35,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_90: 20,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_135: 15,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_180: 70,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_225: 80,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_270: 10,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_315: 90,
}
wanted_distances = copy.copy(distance_map)
sensor_enum = mavutil.mavlink.enums["MAV_SENSOR_ORIENTATION"]
def my_message_hook(mav, m):
if m.get_type() != 'DISTANCE_SENSOR':
return
self.progress("Got (%s)" % str(m))
want = distance_map[m.orientation]
got = m.current_distance
# ArduPilot's floating point conversions make it imprecise:
delta = abs(want-got)
if delta > 1:
self.progress(
"Wrong distance (%s): want=%f got=%f" %
(sensor_enum[m.orientation].name, want, got))
return
if m.orientation not in wanted_distances:
return
self.progress(
"Correct distance (%s): want=%f got=%f" %
(sensor_enum[m.orientation].name, want, got))
del wanted_distances[m.orientation]
self.install_message_hook_context(my_message_hook)
tstart = self.get_sim_time()
while True:
if self.get_sim_time() - tstart > 5:
raise NotAchievedException("Sensor did not give right distances") # noqa
for (orient, dist) in distance_map.items():
self.mav.mav.distance_sensor_send(
0, # time_boot_ms
10, # min_distance cm
90, # max_distance cm
dist, # current_distance cm
mavutil.mavlink.MAV_DISTANCE_SENSOR_LASER, # type
21, # id
orient, # orientation
255 # covariance
)
self.wait_heartbeat()
if len(wanted_distances.keys()) == 0:
break
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def fly_rangefinder_mavlink_distance_sensor(self):
self.start_subtest("Test mavlink rangefinder using DISTANCE_SENSOR messages")
self.context_push()
self.set_parameters({
"RTL_ALT_TYPE": 0,
"LGR_ENABLE": 1,
"LGR_DEPLOY_ALT": 1,
"LGR_RETRACT_ALT": 10, # metres
"SERVO10_FUNCTION": 29
})
ex = None
try:
self.set_parameter("SERIAL5_PROTOCOL", 1)
self.set_parameter("RNGFND1_TYPE", 10)
self.reboot_sitl()
self.set_parameter("RNGFND1_MAX_CM", 32767)
self.progress("Should be unhealthy while we don't send messages")
self.assert_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION, True, True, False)
self.progress("Should be healthy while we're sending good messages")
tstart = self.get_sim_time()
while True:
if self.get_sim_time() - tstart > 5:
raise NotAchievedException("Sensor did not come good")
self.mav.mav.distance_sensor_send(
0, # time_boot_ms
10, # min_distance
50, # max_distance
20, # current_distance
mavutil.mavlink.MAV_DISTANCE_SENSOR_LASER, # type
21, # id
mavutil.mavlink.MAV_SENSOR_ROTATION_PITCH_270, # orientation
255 # covariance
)
if self.sensor_has_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION, True, True, True):
self.progress("Sensor has good state")
break
self.delay_sim_time(0.1)
self.progress("Should be unhealthy again if we stop sending messages")
self.delay_sim_time(1)
self.assert_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION, True, True, False)
self.progress("Landing gear should deploy with current_distance below min_distance")
self.change_mode('STABILIZE')
timeout = 60
tstart = self.get_sim_time()
while not self.sensor_has_state(mavutil.mavlink.MAV_SYS_STATUS_PREARM_CHECK, True, True, True):
if self.get_sim_time() - tstart > timeout:
raise NotAchievedException("Failed to become armable after %f seconds" % timeout)
self.mav.mav.distance_sensor_send(
0, # time_boot_ms
100, # min_distance (cm)
2500, # max_distance (cm)
200, # current_distance (cm)
mavutil.mavlink.MAV_DISTANCE_SENSOR_LASER, # type
21, # id
mavutil.mavlink.MAV_SENSOR_ROTATION_PITCH_270, # orientation
255 # covariance
)
self.arm_vehicle()
self.delay_sim_time(1) # servo function maps only periodically updated
# self.send_debug_trap()
self.run_cmd(
mavutil.mavlink.MAV_CMD_AIRFRAME_CONFIGURATION,
0,
0, # deploy
0,
0,
0,
0,
0
)
self.context_collect("STATUSTEXT")
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 5:
raise NotAchievedException("Retraction did not happen")
self.mav.mav.distance_sensor_send(
0, # time_boot_ms
100, # min_distance (cm)
6000, # max_distance (cm)
1500, # current_distance (cm)
mavutil.mavlink.MAV_DISTANCE_SENSOR_LASER, # type
21, # id
mavutil.mavlink.MAV_SENSOR_ROTATION_PITCH_270, # orientation
255 # covariance
)
self.delay_sim_time(0.1)
try:
self.wait_text("LandingGear: RETRACT", check_context=True, timeout=0.1)
except Exception:
continue
self.progress("Retracted")
break
# self.send_debug_trap()
while True:
if self.get_sim_time_cached() - tstart > 5:
raise NotAchievedException("Deployment did not happen")
self.progress("Sending distance-sensor message")
self.mav.mav.distance_sensor_send(
0, # time_boot_ms
300, # min_distance
500, # max_distance
250, # current_distance
mavutil.mavlink.MAV_DISTANCE_SENSOR_LASER, # type
21, # id
mavutil.mavlink.MAV_SENSOR_ROTATION_PITCH_270, # orientation
255 # covariance
)
try:
self.wait_text("LandingGear: DEPLOY", check_context=True, timeout=0.1)
except Exception:
continue
self.progress("Deployed")
break
self.disarm_vehicle()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def GSF(self):
'''test the Gaussian Sum filter'''
ex = None
self.context_push()
try:
self.set_parameter("EK2_ENABLE", 1)
self.reboot_sitl()
self.takeoff(20, mode='LOITER')
self.set_rc(2, 1400)
self.delay_sim_time(5)
self.set_rc(2, 1500)
self.progress("Path: %s" % self.current_onboard_log_filepath())
dfreader = self.dfreader_for_current_onboard_log()
self.do_RTL()
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
# ensure log messages present
want = set(["XKY0", "XKY1", "NKY0", "NKY1"])
still_want = want
while len(still_want):
m = dfreader.recv_match(type=want)
if m is None:
raise NotAchievedException("Did not get %s" % want)
still_want.remove(m.get_type())
def fly_rangefinder_mavlink(self):
self.fly_rangefinder_mavlink_distance_sensor()
# explicit test for the mavlink driver as it doesn't play so nice:
self.set_parameters({
"SERIAL5_PROTOCOL": 1,
"RNGFND1_TYPE": 10,
})
self.customise_SITL_commandline(['--uartF=sim:rf_mavlink'])
self.change_mode('GUIDED')
self.wait_ready_to_arm()
self.arm_vehicle()
expected_alt = 5
self.user_takeoff(alt_min=expected_alt)
tstart = self.get_sim_time()
while True:
if self.get_sim_time() - tstart > 5:
raise NotAchievedException("Mavlink rangefinder not working")
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) > 1:
print("rangefinder alt (%s) disagrees with global-position-int.relative_alt (%s)" %
(rf.distance, gpi.relative_alt/1000.0))
continue
ds = self.mav.recv_match(
type="DISTANCE_SENSOR",
timeout=2,
blocking=True,
)
if ds is None:
raise NotAchievedException("Did not receive DISTANCE_SENSOR message")
self.progress("Got: %s" % str(ds))
if abs(ds.current_distance/100.0 - gpi.relative_alt/1000.0) > 1:
print(
"distance sensor.current_distance (%f) disagrees with global-position-int.relative_alt (%s)" %
(ds.current_distance/100.0, gpi.relative_alt/1000.0))
continue
break
self.progress("mavlink rangefinder OK")
self.land_and_disarm()
def MaxBotixI2CXL(self):
'''Test maxbotix rangefinder drivers'''
ex = None
try:
self.context_push()
self.start_subtest("No messages")
rf = self.mav.recv_match(type="DISTANCE_SENSOR", timeout=5, blocking=True)
if rf is not None:
raise NotAchievedException("Receiving DISTANCE_SENSOR when I shouldn't be")
self.start_subtest("Default address")
self.set_parameter("RNGFND1_TYPE", 2) # maxbotix
self.reboot_sitl()
self.do_timesync_roundtrip()
rf = self.mav.recv_match(type="DISTANCE_SENSOR", timeout=5, blocking=True)
self.progress("Got (%s)" % str(rf))
if rf is None:
raise NotAchievedException("Didn't receive DISTANCE_SENSOR when I should've")
self.start_subtest("Explicitly set to default address")
self.set_parameters({
"RNGFND1_TYPE": 2, # maxbotix
"RNGFND1_ADDR": 0x70,
})
self.reboot_sitl()
self.do_timesync_roundtrip()
rf = self.mav.recv_match(type="DISTANCE_SENSOR", timeout=5, blocking=True)
self.progress("Got (%s)" % str(rf))
if rf is None:
raise NotAchievedException("Didn't receive DISTANCE_SENSOR when I should've")
self.start_subtest("Explicitly set to non-default address")
self.set_parameter("RNGFND1_ADDR", 0x71)
self.reboot_sitl()
self.do_timesync_roundtrip()
rf = self.mav.recv_match(type="DISTANCE_SENSOR", timeout=5, blocking=True)
self.progress("Got (%s)" % str(rf))
if rf is None:
raise NotAchievedException("Didn't receive DISTANCE_SENSOR when I should've")
self.start_subtest("Two MaxBotix RangeFinders")
self.set_parameters({
"RNGFND1_TYPE": 2, # maxbotix
"RNGFND1_ADDR": 0x70,
"RNGFND1_MIN_CM": 150,
"RNGFND2_TYPE": 2, # maxbotix
"RNGFND2_ADDR": 0x71,
"RNGFND2_MIN_CM": 250,
})
self.reboot_sitl()
self.do_timesync_roundtrip()
for i in [0, 1]:
rf = self.mav.recv_match(
type="DISTANCE_SENSOR",
timeout=5,
blocking=True,
condition="DISTANCE_SENSOR.id==%u" % i
)
self.progress("Got id==%u (%s)" % (i, str(rf)))
if rf is None:
raise NotAchievedException("Didn't receive DISTANCE_SENSOR when I should've")
expected_dist = 150
if i == 1:
expected_dist = 250
if rf.min_distance != expected_dist:
raise NotAchievedException("Unexpected min_cm (want=%u got=%u)" %
(expected_dist, rf.min_distance))
self.context_pop()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.reboot_sitl()
if ex is not None:
raise ex
def RangeFinderDrivers(self):
'''Test rangefinder drivers'''
self.set_parameters({
"RTL_ALT": 500,
"RTL_ALT_TYPE": 1,
})
drivers = [
("lightwareserial", 8), # autodetected between this and -binary
("lightwareserial-binary", 8),
("USD1_v0", 11),
("USD1_v1", 11),
("leddarone", 12),
("maxsonarseriallv", 13),
("nmea", 17),
("wasp", 18),
("benewake_tf02", 19),
("blping", 23),
("benewake_tfmini", 20),
("lanbao", 26),
("benewake_tf03", 27),
("gyus42v2", 31),
("teraranger_serial", 35),
]
while len(drivers):
do_drivers = drivers[0:3]
drivers = drivers[3:]
command_line_args = []
self.context_push()
for (offs, cmdline_argument, serial_num) in [(0, '--uartE', 4),
(1, '--uartF', 5),
(2, '--uartG', 6)]:
if len(do_drivers) > offs:
(sim_name, rngfnd_param_value) = do_drivers[offs]
command_line_args.append("%s=sim:%s" %
(cmdline_argument, sim_name))
serial_param_name = "SERIAL%u_PROTOCOL" % serial_num
self.set_parameters({
serial_param_name: 9, # rangefinder
"RNGFND%u_TYPE" % (offs+1): rngfnd_param_value,
})
self.customise_SITL_commandline(command_line_args)
self.fly_rangefinder_drivers_fly([x[0] for x in do_drivers])
self.context_pop()
self.fly_rangefinder_mavlink()
i2c_drivers = [
("maxbotixi2cxl", 2),
]
while len(i2c_drivers):
do_drivers = i2c_drivers[0:9]
i2c_drivers = i2c_drivers[9:]
count = 1
p = {}
for d in do_drivers:
(sim_name, rngfnd_param_value) = d
p["RNGFND%u_TYPE" % count] = rngfnd_param_value
count += 1
self.set_parameters(p)
self.reboot_sitl()
self.fly_rangefinder_drivers_fly([x[0] for x in do_drivers])
def RangeFinderDriversMaxAlt(self):
'''test max-height behaviour'''
# lightwareserial goes to 130m when out of range
self.set_parameters({
"SERIAL4_PROTOCOL": 9,
"RNGFND1_TYPE": 8,
"WPNAV_SPEED_UP": 1000, # cm/s
})
self.customise_SITL_commandline([
"--uartE=sim:lightwareserial",
])
self.takeoff(95, mode='GUIDED', timeout=240, max_err=0.5)
self.assert_rangefinder_distance_between(90, 100)
self.wait_rangefinder_distance(90, 100)
rf_bit = mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION
self.assert_sensor_state(rf_bit, present=True, enabled=True, healthy=True)
self.assert_distance_sensor_quality(100)
self.progress("Moving higher to be out of max rangefinder range")
self.fly_guided_move_local(0, 0, 150)
# sensor remains healthy even out-of-range
self.assert_sensor_state(rf_bit, present=True, enabled=True, healthy=True)
self.assert_distance_sensor_quality(1)
self.do_RTL()
def ShipTakeoff(self):
'''Fly Simulated Ship Takeoff'''
# test ship takeoff
self.wait_groundspeed(0, 2)
self.set_parameters({
"SIM_SHIP_ENABLE": 1,
"SIM_SHIP_SPEED": 10,
"SIM_SHIP_DSIZE": 2,
})
self.wait_ready_to_arm()
# we should be moving with the ship
self.wait_groundspeed(9, 11)
self.takeoff(10)
# above ship our speed drops to 0
self.wait_groundspeed(0, 2)
self.land_and_disarm()
# ship will have moved on, so we land on the water which isn't moving
self.wait_groundspeed(0, 2)
def ParameterValidation(self):
'''Test parameters are checked for validity'''
# wait 10 seconds for initialisation
self.delay_sim_time(10)
self.progress("invalid; min must be less than max:")
self.set_parameters({
"MOT_PWM_MIN": 100,
"MOT_PWM_MAX": 50,
})
self.drain_mav()
self.assert_prearm_failure("Check MOT_PWM_MIN/MAX")
self.progress("invalid; min must be less than max (equal case):")
self.set_parameters({
"MOT_PWM_MIN": 100,
"MOT_PWM_MAX": 100,
})
self.drain_mav()
self.assert_prearm_failure("Check MOT_PWM_MIN/MAX")
def SensorErrorFlags(self):
'''Test we get ERR messages when sensors have issues'''
self.reboot_sitl()
for (param_names, param_value, expected_subsys, expected_ecode, desc) in [
(['SIM_BARO_DISABLE', 'SIM_BAR2_DISABLE'], 1, 18, 4, 'unhealthy'),
(['SIM_BARO_DISABLE', 'SIM_BAR2_DISABLE'], 0, 18, 0, 'healthy'),
(['SIM_MAG1_FAIL', 'SIM_MAG2_FAIL', 'SIM_MAG3_FAIL'], 1, 3, 4, 'unhealthy'),
(['SIM_MAG1_FAIL', 'SIM_MAG2_FAIL', 'SIM_MAG3_FAIL'], 0, 3, 0, 'healthy'),
]:
sp = dict()
for name in param_names:
sp[name] = param_value
self.set_parameters(sp)
self.delay_sim_time(1)
mlog = self.dfreader_for_current_onboard_log()
success = False
while True:
m = mlog.recv_match(type='ERR')
print("Got (%s)" % str(m))
if m is None:
break
if m.Subsys == expected_subsys and m.ECode == expected_ecode: # baro / ecode
success = True
break
if not success:
raise NotAchievedException("Did not find %s log message" % desc)
def AltEstimation(self):
'''Test that Alt Estimation is mandatory for ALT_HOLD'''
self.context_push()
ex = None
try:
# disable barometer so there is no altitude source
self.set_parameters({
"SIM_BARO_DISABLE": 1,
"SIM_BARO2_DISABL": 1,
})
self.wait_gps_disable(position_vertical=True)
# turn off arming checks (mandatory arming checks will still be run)
self.set_parameter("ARMING_CHECK", 0)
# delay 12 sec to allow EKF to lose altitude estimate
self.delay_sim_time(12)
self.change_mode("ALT_HOLD")
self.assert_prearm_failure("Need Alt Estimate")
# force arm vehicle in stabilize to bypass barometer pre-arm checks
self.change_mode("STABILIZE")
self.arm_vehicle()
self.set_rc(3, 1700)
try:
self.change_mode("ALT_HOLD", timeout=10)
except AutoTestTimeoutException:
self.progress("PASS not able to set mode without Position : %s" % "ALT_HOLD")
# check that mode change to ALT_HOLD has failed (it should)
if self.mode_is("ALT_HOLD"):
raise NotAchievedException("Changed to ALT_HOLD with no altitude estimate")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.disarm_vehicle(force=True)
if ex is not None:
raise ex
def EKFSource(self):
'''Check EKF Source Prearms work'''
self.context_push()
ex = None
try:
self.set_parameters({
"EK3_ENABLE": 1,
"AHRS_EKF_TYPE": 3,
})
self.wait_ready_to_arm()
self.start_subtest("bad yaw source")
self.set_parameter("EK3_SRC3_YAW", 17)
self.assert_prearm_failure("Check EK3_SRC3_YAW")
self.context_push()
self.start_subtest("missing required yaw source")
self.set_parameters({
"EK3_SRC3_YAW": 3, # External Yaw with Compass Fallback
"COMPASS_USE": 0,
"COMPASS_USE2": 0,
"COMPASS_USE3": 0,
})
self.assert_prearm_failure("EK3 sources require Compass")
self.context_pop()
except Exception as e:
self.disarm_vehicle(force=True)
self.print_exception_caught(e)
ex = e
self.context_pop()
if ex is not None:
raise ex
def test_replay_gps_bit(self):
self.set_parameters({
"LOG_REPLAY": 1,
"LOG_DISARMED": 1,
"EK3_ENABLE": 1,
"EK2_ENABLE": 1,
"AHRS_TRIM_X": 0.01,
"AHRS_TRIM_Y": -0.03,
"GPS_TYPE2": 1,
"GPS_POS1_X": 0.1,
"GPS_POS1_Y": 0.2,
"GPS_POS1_Z": 0.3,
"GPS_POS2_X": -0.1,
"GPS_POS2_Y": -0.02,
"GPS_POS2_Z": -0.31,
"INS_POS1_X": 0.12,
"INS_POS1_Y": 0.14,
"INS_POS1_Z": -0.02,
"INS_POS2_X": 0.07,
"INS_POS2_Y": 0.012,
"INS_POS2_Z": -0.06,
"RNGFND1_TYPE": 1,
"RNGFND1_PIN": 0,
"RNGFND1_SCALING": 30,
"RNGFND1_POS_X": 0.17,
"RNGFND1_POS_Y": -0.07,
"RNGFND1_POS_Z": -0.005,
"SIM_SONAR_SCALE": 30,
"SIM_GPS2_DISABLE": 0,
})
self.reboot_sitl()
self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_LOGGING, True, True, True)
current_log_filepath = self.current_onboard_log_filepath()
self.progress("Current log path: %s" % str(current_log_filepath))
self.change_mode("LOITER")
self.wait_ready_to_arm(require_absolute=True)
self.arm_vehicle()
self.takeoffAndMoveAway()
self.do_RTL()
self.reboot_sitl()
return current_log_filepath
def test_replay_beacon_bit(self):
self.set_parameters({
"LOG_REPLAY": 1,
"LOG_DISARMED": 1,
})
old_onboard_logs = sorted(self.log_list())
self.BeaconPosition()
new_onboard_logs = sorted(self.log_list())
log_difference = [x for x in new_onboard_logs if x not in old_onboard_logs]
return log_difference[2]
def test_replay_optical_flow_bit(self):
self.set_parameters({
"LOG_REPLAY": 1,
"LOG_DISARMED": 1,
})
old_onboard_logs = sorted(self.log_list())
self.OpticalFlowLimits()
new_onboard_logs = sorted(self.log_list())
log_difference = [x for x in new_onboard_logs if x not in old_onboard_logs]
print("log difference: %s" % str(log_difference))
return log_difference[0]
def GPSBlending(self):
'''Test GPS Blending'''
'''ensure we get dataflash log messages for blended instance'''
self.context_push()
ex = None
try:
# configure:
self.set_parameters({
"GPS_TYPE2": 1,
"SIM_GPS2_TYPE": 1,
"SIM_GPS2_DISABLE": 0,
"GPS_AUTO_SWITCH": 2,
})
self.reboot_sitl()
# ensure we're seeing the second GPS:
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 60:
raise NotAchievedException("Did not get good GPS2_RAW message")
m = self.mav.recv_match(type='GPS2_RAW', blocking=True, timeout=1)
self.progress("%s" % str(m))
if m is None:
continue
if m.lat == 0:
continue
break
# create a log we can expect blended data to appear in:
self.change_mode('LOITER')
self.wait_ready_to_arm()
self.arm_vehicle()
self.delay_sim_time(5)
self.disarm_vehicle()
# inspect generated log for messages:
dfreader = self.dfreader_for_current_onboard_log()
wanted = set([0, 1, 2])
seen_primary_change = False
while True:
m = dfreader.recv_match(type=["GPS", "EV"]) # disarmed
if m is None:
break
mtype = m.get_type()
if mtype == 'GPS':
try:
wanted.remove(m.I)
except KeyError:
continue
elif mtype == 'EV':
if m.Id == 67: # GPS_PRIMARY_CHANGED
seen_primary_change = True
if len(wanted) == 0 and seen_primary_change:
break
if len(wanted):
raise NotAchievedException("Did not get all three GPS types")
if not seen_primary_change:
raise NotAchievedException("Did not see primary change")
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def Callisto(self):
'''Test Callisto'''
self.customise_SITL_commandline(
["--defaults", ','.join(self.model_defaults_filepath('Callisto')), ],
model="octa-quad:@ROMFS/models/Callisto.json",
wipe=True,
)
self.takeoff(10)
self.do_RTL()
def FlyEachFrame(self):
'''Fly each supported internal frame'''
vinfo = vehicleinfo.VehicleInfo()
copter_vinfo_options = vinfo.options[self.vehicleinfo_key()]
known_broken_frames = {
'heli-compound': "wrong binary, different takeoff regime",
'heli-dual': "wrong binary, different takeoff regime",
'heli': "wrong binary, different takeoff regime",
'heli-blade360': "wrong binary, different takeoff regime",
}
for frame in sorted(copter_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 = copter_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,
)
# add a listener that verifies yaw looks good:
def verify_yaw(mav, m):
if m.get_type() != 'ATTITUDE':
return
yawspeed_thresh_rads = math.radians(10)
if m.yawspeed > yawspeed_thresh_rads:
raise NotAchievedException("Excessive yaw on takeoff: %f deg/s > %f deg/s (frame=%s)" %
(math.degrees(m.yawspeed), math.degrees(yawspeed_thresh_rads), frame))
self.install_message_hook(verify_yaw)
self.takeoff(10)
self.remove_message_hook(verify_yaw)
self.hover()
self.change_mode('ALT_HOLD')
self.delay_sim_time(1)
def verify_rollpitch(mav, m):
if m.get_type() != 'ATTITUDE':
return
pitch_thresh_rad = math.radians(2)
if m.pitch > pitch_thresh_rad:
raise NotAchievedException("Excessive pitch %f deg > %f deg" %
(math.degrees(m.pitch), math.degrees(pitch_thresh_rad)))
roll_thresh_rad = math.radians(2)
if m.roll > roll_thresh_rad:
raise NotAchievedException("Excessive roll %f deg > %f deg" %
(math.degrees(m.roll), math.degrees(roll_thresh_rad)))
self.install_message_hook(verify_rollpitch)
for i in range(5):
self.set_rc(4, 2000)
self.delay_sim_time(0.5)
self.set_rc(4, 1500)
self.delay_sim_time(5)
self.remove_message_hook(verify_rollpitch)
self.do_RTL()
def Replay(self):
'''test replay correctness'''
self.progress("Building Replay")
util.build_SITL('tool/Replay', clean=False, configure=False)
bits = [
('GPS', self.test_replay_gps_bit),
('Beacon', self.test_replay_beacon_bit),
('OpticalFlow', self.test_replay_optical_flow_bit),
]
for (name, func) in bits:
self.start_subtest("%s" % name)
self.test_replay_bit(func)
def test_replay_bit(self, bit):
self.context_push()
current_log_filepath = bit()
self.progress("Running replay on (%s) (%u bytes)" % (
(current_log_filepath, os.path.getsize(current_log_filepath))
))
util.run_cmd(
['build/sitl/tool/Replay', current_log_filepath],
directory=util.topdir(),
checkfail=True,
show=True,
output=True,
)
self.context_pop()
replay_log_filepath = self.current_onboard_log_filepath()
self.progress("Replay log path: %s" % str(replay_log_filepath))
check_replay = util.load_local_module("Tools/Replay/check_replay.py")
ok = check_replay.check_log(replay_log_filepath, self.progress, verbose=True)
if not ok:
raise NotAchievedException("check_replay failed")
def DefaultIntervalsFromFiles(self):
'''Test setting default mavlink message intervals from files'''
ex = None
intervals_filepath = util.reltopdir("message-intervals-chan0.txt")
self.progress("Using filepath (%s)" % intervals_filepath)
try:
with open(intervals_filepath, "w") as f:
f.write("""30 50
28 100
29 200
""")
f.close()
# other tests may have explicitly set rates, so wipe parameters:
def custom_stream_rate_setter():
for stream in mavutil.mavlink.MAV_DATA_STREAM_EXTRA3, mavutil.mavlink.MAV_DATA_STREAM_RC_CHANNELS:
self.set_streamrate(5, stream=stream)
self.customise_SITL_commandline(
[],
wipe=True,
set_streamrate_callback=custom_stream_rate_setter,
)
self.assert_message_rate_hz("ATTITUDE", 20)
self.assert_message_rate_hz("SCALED_PRESSURE", 5)
except Exception as e:
self.print_exception_caught(e)
ex = e
os.unlink(intervals_filepath)
self.reboot_sitl()
if ex is not None:
raise ex
def BaroDrivers(self):
'''Test Baro Drivers'''
sensors = [
("MS5611", 2),
]
for (name, bus) in sensors:
self.context_push()
if bus is not None:
self.set_parameter("BARO_EXT_BUS", bus)
self.set_parameter("BARO_PROBE_EXT", 1 << 2)
self.reboot_sitl()
self.wait_ready_to_arm()
self.arm_vehicle()
# insert listener to compare airspeeds:
messages = [None, None, None]
global count
count = 0
def check_pressure(mav, m):
global count
m_type = m.get_type()
count += 1
# if count > 500:
# if press_abs[0] is None or press_abs[1] is None:
# raise NotAchievedException("Not receiving messages")
if m_type == 'SCALED_PRESSURE3':
off = 2
elif m_type == 'SCALED_PRESSURE2':
off = 1
elif m_type == 'SCALED_PRESSURE':
off = 0
else:
return
messages[off] = m
if None in messages:
return
first = messages[0]
for msg in messages[1:]:
delta_press_abs = abs(first.press_abs - msg.press_abs)
if delta_press_abs > 0.5: # 50 Pa leeway
raise NotAchievedException("Press_Abs mismatch (press1=%s press2=%s)" % (first, msg))
delta_temperature = abs(first.temperature - msg.temperature)
if delta_temperature > 300: # that's 3-degrees leeway
raise NotAchievedException("Temperature mismatch (t1=%s t2=%s)" % (first, msg))
self.install_message_hook_context(check_pressure)
self.fly_mission("copter_mission.txt", strict=False)
if None in messages:
raise NotAchievedException("Missing a message")
self.context_pop()
self.reboot_sitl()
def PositionWhenGPSIsZero(self):
'''Ensure position doesn't zero when GPS lost'''
# https://github.com/ArduPilot/ardupilot/issues/14236
self.progress("arm the vehicle and takeoff in Guided")
self.takeoff(20, mode='GUIDED')
self.progress("fly 50m North (or whatever)")
old_pos = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
self.fly_guided_move_global_relative_alt(50, 0, 20)
self.set_parameter('GPS_TYPE', 0)
self.drain_mav()
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 30 and self.mode_is('LAND'):
self.progress("Bug not reproduced")
break
m = self.assert_receive_message('GLOBAL_POSITION_INT', timeout=1, verbose=True)
pos_delta = self.get_distance_int(old_pos, m)
self.progress("Distance: %f" % pos_delta)
if pos_delta < 5:
raise NotAchievedException("Bug reproduced - returned to near origin")
self.wait_disarmed()
self.reboot_sitl()
def SMART_RTL(self):
'''Check SMART_RTL'''
self.context_push()
ex = None
try:
self.progress("arm the vehicle and takeoff in Guided")
self.takeoff(20, mode='GUIDED')
self.progress("fly around a bit (or whatever)")
locs = [
(50, 0, 20),
(-50, 50, 20),
(-50, 0, 20),
]
for (lat, lng, alt) in locs:
self.fly_guided_move_local(lat, lng, alt)
self.change_mode('SMART_RTL')
for (lat, lng, alt) in reversed(locs):
self.wait_distance_to_local_position(
(lat, lng, -alt),
0,
10,
timeout=60
)
self.wait_disarmed()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.disarm_vehicle(force=True)
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def get_ground_effect_duration_from_current_onboard_log(self, bit, ignore_multi=False):
'''returns a duration in seconds we were expecting to interact with
the ground. Will die if there's more than one such block of
time and ignore_multi is not set (will return first duration
otherwise)
'''
ret = []
dfreader = self.dfreader_for_current_onboard_log()
seen_expected_start_TimeUS = None
first = None
last = None
while True:
m = dfreader.recv_match(type="XKF4")
if m is None:
break
last = m
if first is None:
first = m
# self.progress("%s" % str(m))
expected = m.SS & (1 << bit)
if expected:
if seen_expected_start_TimeUS is None:
seen_expected_start_TimeUS = m.TimeUS
continue
else:
if seen_expected_start_TimeUS is not None:
duration = (m.TimeUS - seen_expected_start_TimeUS)/1000000.0
ret.append(duration)
seen_expected_start_TimeUS = None
if seen_expected_start_TimeUS is not None:
duration = (last.TimeUS - seen_expected_start_TimeUS)/1000000.0
ret.append(duration)
return ret
def get_takeoffexpected_durations_from_current_onboard_log(self, ignore_multi=False):
return self.get_ground_effect_duration_from_current_onboard_log(11, ignore_multi=ignore_multi)
def get_touchdownexpected_durations_from_current_onboard_log(self, ignore_multi=False):
return self.get_ground_effect_duration_from_current_onboard_log(12, ignore_multi=ignore_multi)
def ThrowDoubleDrop(self):
'''Test a more complicated drop-mode scenario'''
self.progress("Getting a lift to altitude")
self.set_parameters({
"SIM_SHOVE_Z": -11,
"THROW_TYPE": 1, # drop
"MOT_SPOOL_TIME": 2,
})
self.change_mode('THROW')
self.wait_ready_to_arm()
self.arm_vehicle()
try:
self.set_parameter("SIM_SHOVE_TIME", 30000)
except ValueError:
# the shove resets this to zero
pass
self.wait_altitude(100, 1000, timeout=100, relative=True)
self.context_collect('STATUSTEXT')
self.wait_statustext("throw detected - spooling motors", check_context=True, timeout=10)
self.wait_statustext("throttle is unlimited - uprighting", check_context=True)
self.wait_statustext("uprighted - controlling height", check_context=True)
self.wait_statustext("height achieved - controlling position", check_context=True)
self.progress("Waiting for still")
self.wait_speed_vector(Vector3(0, 0, 0))
self.change_mode('ALT_HOLD')
self.set_rc(3, 1000)
self.wait_disarmed(timeout=90)
self.zero_throttle()
self.progress("second flight")
self.upload_square_mission_items_around_location(self.poll_home_position())
self.set_parameters({
"THROW_NEXTMODE": 3, # auto
})
self.change_mode('THROW')
self.wait_ready_to_arm()
self.arm_vehicle()
try:
self.set_parameter("SIM_SHOVE_TIME", 30000)
except ValueError:
# the shove resets this to zero
pass
self.wait_altitude(100, 1000, timeout=100, relative=True)
self.wait_statustext("throw detected - spooling motors", check_context=True, timeout=10)
self.wait_statustext("throttle is unlimited - uprighting", check_context=True)
self.wait_statustext("uprighted - controlling height", check_context=True)
self.wait_statustext("height achieved - controlling position", check_context=True)
self.wait_mode('AUTO')
self.wait_disarmed(timeout=240)
def GroundEffectCompensation_takeOffExpected(self):
'''Test EKF's handling of takeoff-expected'''
self.change_mode('ALT_HOLD')
self.set_parameter("LOG_FILE_DSRMROT", 1)
self.progress("Making sure we'll have a short log to look at")
self.wait_ready_to_arm()
self.arm_vehicle()
self.disarm_vehicle()
# arm the vehicle and let it disarm normally. This should
# yield a log where the EKF considers a takeoff imminent until
# disarm
self.start_subtest("Check ground effect compensation remains set in EKF while we're at idle on the ground")
self.arm_vehicle()
self.wait_disarmed()
durations = self.get_takeoffexpected_durations_from_current_onboard_log()
duration = durations[0]
want = 9
self.progress("takeoff-expected duration: %fs" % (duration,))
if duration < want: # assumes default 10-second DISARM_DELAY
raise NotAchievedException("Should have been expecting takeoff for longer than %fs (want>%f)" %
(duration, want))
self.start_subtest("takeoffExpected should be false very soon after we launch into the air")
self.takeoff(mode='ALT_HOLD', alt_min=5)
self.change_mode('LAND')
self.wait_disarmed()
durations = self.get_takeoffexpected_durations_from_current_onboard_log(ignore_multi=True)
self.progress("touchdown-durations: %s" % str(durations))
duration = durations[0]
self.progress("takeoff-expected-duration %f" % (duration,))
want_lt = 5
if duration >= want_lt:
raise NotAchievedException("Was expecting takeoff for longer than expected; got=%f want<=%f" %
(duration, want_lt))
def MAV_CMD_CONDITION_YAW_absolute(self):
self.start_subtest("absolute")
self.takeoff(20, mode='GUIDED')
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
initial_heading = m.heading
self.progress("Ensuring initial heading is steady")
target = initial_heading
self.run_cmd(
mavutil.mavlink.MAV_CMD_CONDITION_YAW,
target, # target angle
10, # degrees/second
1, # -1 is counter-clockwise, 1 clockwise
0, # 1 for relative, 0 for absolute
0, # p5
0, # p6
0, # p7
)
self.wait_heading(target, minimum_duration=2, timeout=50)
degsecond = 2
def rate_watcher(mav, m):
if m.get_type() != 'ATTITUDE':
return
if abs(math.degrees(m.yawspeed)) > 5*degsecond:
raise NotAchievedException("Moved too fast (%f>%f)" %
(math.degrees(m.yawspeed), 5*degsecond))
self.install_message_hook_context(rate_watcher)
self.progress("Yaw CW 60 degrees")
target = initial_heading + 60
part_way_target = initial_heading + 10
self.run_cmd(
mavutil.mavlink.MAV_CMD_CONDITION_YAW,
target, # target angle
degsecond, # degrees/second
1, # -1 is counter-clockwise, 1 clockwise
0, # 1 for relative, 0 for absolute
0, # p5
0, # p6
0, # p7
)
self.wait_heading(part_way_target)
self.wait_heading(target, minimum_duration=2)
self.progress("Yaw CCW 60 degrees")
target = initial_heading
part_way_target = initial_heading + 30
self.run_cmd(
mavutil.mavlink.MAV_CMD_CONDITION_YAW,
target, # target angle
degsecond, # degrees/second
-1, # -1 is counter-clockwise, 1 clockwise
0, # 1 for relative, 0 for absolute
0, # p5
0, # p6
0, # p7
)
self.wait_heading(part_way_target)
self.wait_heading(target, minimum_duration=2)
self.do_RTL()
def MAV_CMD_CONDITION_YAW_relative(self):
pass
def MAV_CMD_CONDITION_YAW(self):
'''Test response to MAV_CMD_CONDITION_YAW'''
self.MAV_CMD_CONDITION_YAW_absolute()
self.MAV_CMD_CONDITION_YAW_relative()
def GroundEffectCompensation_touchDownExpected(self):
'''Test EKF's handling of touchdown-expected'''
self.zero_throttle()
self.change_mode('ALT_HOLD')
self.set_parameter("LOG_FILE_DSRMROT", 1)
self.progress("Making sure we'll have a short log to look at")
self.wait_ready_to_arm()
self.arm_vehicle()
self.disarm_vehicle()
self.start_subtest("Make sure touchdown-expected duration is about right")
self.takeoff(20, mode='ALT_HOLD')
self.change_mode('LAND')
self.wait_disarmed()
durations = self.get_touchdownexpected_durations_from_current_onboard_log(ignore_multi=True)
self.progress("touchdown-durations: %s" % str(durations))
duration = durations[-1]
expected = 23 # this is the time in the final descent phase of LAND
if abs(duration - expected) > 5:
raise NotAchievedException("Was expecting roughly %fs of touchdown expected, got %f" % (expected, duration))
def upload_square_mission_items_around_location(self, loc):
alt = 20
loc.alt = alt
items = [
(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, alt)
]
for (ofs_n, ofs_e) in (20, 20), (20, -20), (-20, -20), (-20, 20), (20, 20):
items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, ofs_n, ofs_e, alt))
items.append((mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0))
self.upload_simple_relhome_mission(items)
def RefindGPS(self):
'''Refind the GPS and attempt to RTL rather than continue to land'''
# https://github.com/ArduPilot/ardupilot/issues/14236
self.progress("arm the vehicle and takeoff in Guided")
self.takeoff(20, mode='GUIDED')
self.progress("fly 50m North (or whatever)")
old_pos = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
self.fly_guided_move_global_relative_alt(50, 0, 20)
self.set_parameter('GPS_TYPE', 0)
self.drain_mav()
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 30 and self.mode_is('LAND'):
self.progress("Bug not reproduced")
break
m = self.assert_receive_message('GLOBAL_POSITION_INT', timeout=1, verbose=True)
pos_delta = self.get_distance_int(old_pos, m)
self.progress("Distance: %f" % pos_delta)
if pos_delta < 5:
raise NotAchievedException("Bug reproduced - returned to near origin")
self.set_parameter('GPS_TYPE', 1)
self.do_RTL()
def GPSForYaw(self):
'''Moving baseline GPS yaw'''
self.context_push()
self.load_default_params_file("copter-gps-for-yaw.parm")
self.reboot_sitl()
ex = None
try:
self.wait_gps_fix_type_gte(6, message_type="GPS2_RAW", verbose=True)
m = self.assert_receive_message("GPS2_RAW")
self.progress(self.dump_message_verbose(m))
want = 27000
if abs(m.yaw - want) > 500:
raise NotAchievedException("Expected to get GPS-from-yaw (want %f got %f)" % (want, m.yaw))
self.wait_ready_to_arm()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def AP_Avoidance(self):
'''ADSB-based avoidance'''
self.set_parameters({
"AVD_ENABLE": 1,
"ADSB_TYPE": 1, # mavlink
"AVD_F_ACTION": 2, # climb or descend
})
self.reboot_sitl()
self.wait_ready_to_arm()
here = self.mav.location()
self.context_push()
self.start_subtest("F_ALT_MIN zero - disabled, can't arm in face of threat")
self.set_parameters({
"AVD_F_ALT_MIN": 0,
})
self.wait_ready_to_arm()
self.test_adsb_send_threatening_adsb_message(here)
self.delay_sim_time(1)
self.try_arm(result=False,
expect_msg="ADSB threat detected")
self.wait_ready_to_arm(timeout=60)
self.context_pop()
self.start_subtest("F_ALT_MIN 16m relative - arm in face of threat")
self.context_push()
self.set_parameters({
"AVD_F_ALT_MIN": int(16 + here.alt),
})
self.wait_ready_to_arm()
self.test_adsb_send_threatening_adsb_message(here)
# self.delay_sim_time(1)
self.arm_vehicle()
self.disarm_vehicle()
self.context_pop()
def PAUSE_CONTINUE(self):
'''Test MAV_CMD_DO_PAUSE_CONTINUE in AUTO mode'''
self.load_mission(filename="copter_mission.txt", strict=False)
self.set_parameter(name="AUTO_OPTIONS", value=3)
self.change_mode(mode="AUTO")
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_current_waypoint(wpnum=3, timeout=500)
self.send_pause_command()
self.wait_groundspeed(speed_min=0, speed_max=1, minimum_duration=5)
self.send_resume_command()
self.wait_current_waypoint(wpnum=4, timeout=500)
self.send_pause_command()
self.wait_groundspeed(speed_min=0, speed_max=1, minimum_duration=5)
self.send_resume_command()
self.wait_disarmed(timeout=500)
def PAUSE_CONTINUE_GUIDED(self):
'''Test MAV_CMD_DO_PAUSE_CONTINUE in GUIDED mode'''
self.start_subtest("Started test for Pause/Continue in GUIDED mode with LOCATION!")
self.change_mode(mode="GUIDED")
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_parameter(name="GUID_TIMEOUT", value=120)
self.user_takeoff(alt_min=30)
# send vehicle to global position target
location = self.home_relative_loc_ne(n=300, e=0)
target_typemask = MAV_POS_TARGET_TYPE_MASK.POS_ONLY
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, # relative altitude frame
target_typemask | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE, # target typemask as pos only
int(location.lat * 1e7), # lat
int(location.lng * 1e7), # lon
30, # alt
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0) # yawrate
self.wait_distance_to_home(distance_min=100, distance_max=150, timeout=120)
self.send_pause_command()
self.wait_groundspeed(speed_min=0, speed_max=1, minimum_duration=5)
self.send_resume_command()
self.wait_location(loc=location, timeout=120)
self.end_subtest("Ended test for Pause/Continue in GUIDED mode with LOCATION!")
self.start_subtest("Started test for Pause/Continue in GUIDED mode with DESTINATION!")
self.guided_achieve_heading(heading=270)
# move vehicle on x direction
location = self.offset_location_ne(location=self.mav.location(), metres_north=0, metres_east=-300)
self.mav.mav.set_position_target_global_int_send(
0, # system time in milliseconds
1, # target system
1, # target component
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, # coordinate frame MAV_FRAME_BODY_NED
MAV_POS_TARGET_TYPE_MASK.POS_ONLY, # type mask (pos only)
int(location.lat*1e7), # position x
int(location.lng*1e7), # position y
30, # position z
0, # velocity x
0, # velocity y
0, # velocity z
0, # accel x
0, # accel y
0, # accel z
0, # yaw
0) # yaw rate
self.wait_location(loc=location, accuracy=200, timeout=120)
self.send_pause_command()
self.wait_groundspeed(speed_min=0, speed_max=1, minimum_duration=5)
self.send_resume_command()
self.wait_location(loc=location, timeout=120)
self.end_subtest("Ended test for Pause/Continue in GUIDED mode with DESTINATION!")
self.start_subtest("Started test for Pause/Continue in GUIDED mode with VELOCITY!")
# give velocity command
vx, vy, vz_up = (5, 5, 0)
self.test_guided_local_velocity_target(vx=vx, vy=vy, vz_up=vz_up, timeout=10)
self.wait_for_local_velocity(vx=vx, vy=vy, vz_up=vz_up, timeout=10)
self.send_pause_command()
self.wait_for_local_velocity(vx=0, vy=0, vz_up=0, timeout=10)
self.send_resume_command()
self.wait_for_local_velocity(vx=vx, vy=vy, vz_up=vz_up, timeout=10)
self.test_guided_local_velocity_target(vx=0, vy=0, vz_up=0, timeout=10)
self.wait_for_local_velocity(vx=0, vy=0, vz_up=0, timeout=10)
self.end_subtest("Ended test for Pause/Continue in GUIDED mode with VELOCITY!")
self.start_subtest("Started test for Pause/Continue in GUIDED mode with ACCELERATION!")
# give acceleration command
ax, ay, az_up = (1, 1, 0)
target_typemask = (MAV_POS_TARGET_TYPE_MASK.POS_IGNORE | MAV_POS_TARGET_TYPE_MASK.VEL_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE | MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE)
self.mav.mav.set_position_target_local_ned_send(
0, # timestamp
1, # target system_id
1, # target component id
mavutil.mavlink.MAV_FRAME_LOCAL_NED,
target_typemask | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE,
0, # x
0, # y
0, # z
0, # vx
0, # vy
0, # vz
ax, # afx
ay, # afy
-az_up, # afz
0, # yaw
0, # yawrate
)
self.wait_for_local_velocity(vx=5, vy=5, vz_up=0, timeout=10)
self.send_pause_command()
self.wait_for_local_velocity(vx=0, vy=0, vz_up=0, timeout=10)
self.send_resume_command()
self.wait_for_local_velocity(vx=5, vy=5, vz_up=0, timeout=10)
self.test_guided_local_velocity_target(vx=0, vy=0, vz_up=0, timeout=10)
self.wait_for_local_velocity(vx=0, vy=0, vz_up=0, timeout=10)
self.end_subtest("Ended test for Pause/Continue in GUIDED mode with ACCELERATION!")
# start pause/continue subtest with posvelaccel
self.start_subtest("Started test for Pause/Continue in GUIDED mode with POSITION and VELOCITY and ACCELERATION!")
self.guided_achieve_heading(heading=0)
# give posvelaccel command
x, y, z_up = (-300, 0, 30)
target_typemask = (MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE | MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE)
self.mav.mav.set_position_target_local_ned_send(
0, # timestamp
1, # target system_id
1, # target component id
mavutil.mavlink.MAV_FRAME_LOCAL_NED,
target_typemask | MAV_POS_TARGET_TYPE_MASK.LAST_BYTE,
x, # x
y, # y
-z_up, # z
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
self.wait_distance_to_local_position(local_position=(x, y, -z_up), distance_min=400, distance_max=450, timeout=120)
self.send_pause_command()
self.wait_for_local_velocity(0, 0, 0, timeout=10)
self.send_resume_command()
self.wait_distance_to_local_position(local_position=(x, y, -z_up), distance_min=0, distance_max=10, timeout=120)
self.end_subtest("Ended test for Pause/Continue in GUIDED mode with POSITION and VELOCITY and ACCELERATION!")
self.do_RTL(timeout=120)
def DO_CHANGE_SPEED(self):
'''Change speed during misison using waypoint items'''
self.load_mission("mission.txt", strict=False)
self.set_parameters({
"AUTO_OPTIONS": 3,
"ANGLE_MAX": 4500,
})
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_current_waypoint(2)
self.wait_groundspeed(
14.5, 15.5,
minimum_duration=10,
timeout=60,
)
self.wait_current_waypoint(4)
self.wait_groundspeed(
9.5, 11.5,
minimum_duration=10,
timeout=60,
)
self.set_parameter("ANGLE_MAX", 6000)
self.wait_current_waypoint(6)
self.wait_groundspeed(
15.5, 16.5,
minimum_duration=10,
timeout=60,
)
self.wait_disarmed()
def AUTO_LAND_TO_BRAKE(self):
'''ensure terrain altitude is taken into account when braking'''
self.load_mission('mission.txt')
home_loc = self.get_home_tuple_from_mission("mission.txt")
self.set_parameters({
"PLND_ACC_P_NSE": 2.500000,
"PLND_ALT_MAX": 8.000000,
"PLND_ALT_MIN": 0.750000,
"PLND_BUS": -1,
"PLND_CAM_POS_X": 0.000000,
"PLND_CAM_POS_Y": 0.000000,
"PLND_CAM_POS_Z": 0.000000,
"PLND_ENABLED": 1,
"PLND_EST_TYPE": 1,
"PLND_LAG": 0.020000,
"PLND_LAND_OFS_X": 0.000000,
"PLND_LAND_OFS_Y": 0.000000,
"PLND_OPTIONS": 0,
"PLND_RET_BEHAVE": 0,
"PLND_RET_MAX": 4,
"PLND_STRICT": 1,
"PLND_TIMEOUT": 4.000000,
"PLND_TYPE": 4,
"PLND_XY_DIST_MAX": 2.500000,
"PLND_YAW_ALIGN": 0.000000,
"SIM_PLD_ALT_LMT": 15.000000,
"SIM_PLD_DIST_LMT": 10.000000,
"SIM_PLD_ENABLE": 1,
"SIM_PLD_HEIGHT": 942.0000000,
"SIM_PLD_LAT": -20.558929,
"SIM_PLD_LON": -47.415035,
"SIM_PLD_RATE": 100,
"SIM_PLD_TYPE": 1,
"SIM_PLD_YAW": 87,
"SIM_SONAR_SCALE": 12,
})
self.set_analog_rangefinder_parameters()
self.customise_SITL_commandline([
"--home", "%s,%s,%s,%s" % home_loc
])
self.set_parameter('AUTO_OPTIONS', 3)
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_current_waypoint(7)
self.wait_altitude(10, 15, relative=True, timeout=60)
self.change_mode('BRAKE')
# monitor altitude here
self.wait_altitude(10, 15, relative=True, minimum_duration=20)
self.change_mode('AUTO')
self.wait_disarmed()
def MAVLandedStateTakeoff(self):
'''check EXTENDED_SYS_STATE message'''
ex = None
try:
self.set_message_rate_hz(id=mavutil.mavlink.MAVLINK_MSG_ID_EXTENDED_SYS_STATE, rate_hz=1)
self.wait_extended_sys_state(vtol_state=mavutil.mavlink.MAV_VTOL_STATE_MC,
landed_state=mavutil.mavlink.MAV_LANDED_STATE_ON_GROUND, timeout=10)
self.load_mission(filename="copter_mission.txt")
self.set_parameter(name="AUTO_OPTIONS", value=3)
self.change_mode(mode="AUTO")
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_extended_sys_state(vtol_state=mavutil.mavlink.MAV_VTOL_STATE_MC,
landed_state=mavutil.mavlink.MAV_LANDED_STATE_TAKEOFF, timeout=30)
self.wait_extended_sys_state(vtol_state=mavutil.mavlink.MAV_VTOL_STATE_MC,
landed_state=mavutil.mavlink.MAV_LANDED_STATE_IN_AIR, timeout=60)
self.land_and_disarm()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_EXTENDED_SYS_STATE, -1)
if ex is not None:
raise ex
def ATTITUDE_FAST(self):
'''ensure that when ATTITDE_FAST is set we get many messages'''
self.context_push()
ex = None
try:
old = self.get_parameter('LOG_BITMASK')
new = int(old) | (1 << 0) # see defines.h
self.set_parameters({
"LOG_BITMASK": new,
"LOG_DISARMED": 1,
})
path = self.generate_rate_sample_log()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
self.delay_sim_time(10) # NFI why this is required
self.check_dflog_message_rates(path, {
'ATT': 400,
})
def BaseLoggingRates(self):
'''ensure messages come out at specific rates'''
path = self.generate_rate_sample_log()
self.delay_sim_time(10) # NFI why this is required
self.check_dflog_message_rates(path, {
"ATT": 10,
"IMU": 25,
})
def FETtecESC_flight(self):
'''fly with servo outputs from FETtec ESC'''
self.start_subtest("FETtec ESC flight")
num_wp = self.load_mission("copter_mission.txt", strict=False)
self.fly_loaded_mission(num_wp)
def FETtecESC_esc_power_checks(self):
'''Make sure state machine copes with ESCs rebooting'''
self.start_subtest("FETtec ESC reboot")
self.wait_ready_to_arm()
self.context_collect('STATUSTEXT')
self.progress("Turning off an ESC off ")
mask = int(self.get_parameter("SIM_FTOWESC_POW"))
for mot_id_to_kill in 1, 2:
self.progress("Turning ESC=%u off" % mot_id_to_kill)
self.set_parameter("SIM_FTOWESC_POW", mask & ~(1 << mot_id_to_kill))
self.delay_sim_time(1)
self.assert_prearm_failure("are not running")
self.progress("Turning it back on")
self.set_parameter("SIM_FTOWESC_POW", mask)
self.wait_ready_to_arm()
self.progress("Turning ESC=%u off (again)" % mot_id_to_kill)
self.set_parameter("SIM_FTOWESC_POW", mask & ~(1 << mot_id_to_kill))
self.delay_sim_time(1)
self.assert_prearm_failure("are not running")
self.progress("Turning it back on")
self.set_parameter("SIM_FTOWESC_POW", mask)
self.wait_ready_to_arm()
self.progress("Turning all ESCs off")
self.set_parameter("SIM_FTOWESC_POW", 0)
self.delay_sim_time(1)
self.assert_prearm_failure("are not running")
self.progress("Turning them back on")
self.set_parameter("SIM_FTOWESC_POW", mask)
self.wait_ready_to_arm()
def fettec_assert_bad_mask(self, mask):
'''assert the mask is bad for fettec driver'''
self.start_subsubtest("Checking mask (%s) is bad" % (mask,))
self.context_push()
self.set_parameter("SERVO_FTW_MASK", mask)
self.reboot_sitl()
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 20:
raise NotAchievedException("Expected mask to be only problem within 20 seconds")
try:
self.assert_prearm_failure("Invalid motor mask")
break
except NotAchievedException:
self.delay_sim_time(1)
self.context_pop()
self.reboot_sitl()
def fettec_assert_good_mask(self, mask):
'''assert the mask is bad for fettec driver'''
self.start_subsubtest("Checking mask (%s) is good" % (mask,))
self.context_push()
self.set_parameter("SERVO_FTW_MASK", mask)
self.reboot_sitl()
self.wait_ready_to_arm()
self.context_pop()
self.reboot_sitl()
def FETtecESC_safety_switch(self):
mot = self.find_first_set_bit(int(self.get_parameter("SERVO_FTW_MASK"))) + 1
self.wait_esc_telem_rpm(mot, 0, 0)
self.wait_ready_to_arm()
self.context_push()
self.set_parameter("DISARM_DELAY", 0)
self.arm_vehicle()
# we have to wait for a while for the arming tone to go out
# before the motors will spin:
self.wait_esc_telem_rpm(
esc=mot,
rpm_min=17640,
rpm_max=17640,
minimum_duration=2,
timeout=5,
)
self.set_safetyswitch_on()
self.wait_esc_telem_rpm(mot, 0, 0)
self.set_safetyswitch_off()
self.wait_esc_telem_rpm(
esc=mot,
rpm_min=17640,
rpm_max=17640,
minimum_duration=2,
timeout=5,
)
self.context_pop()
self.wait_disarmed()
def FETtecESC_btw_mask_checks(self):
'''ensure prearm checks work as expected'''
for bad_mask in [0b1000000000000000, 0b10100000000000000]:
self.fettec_assert_bad_mask(bad_mask)
for good_mask in [0b00001, 0b00101, 0b110000000000]:
self.fettec_assert_good_mask(good_mask)
def FETtecESC(self):
'''Test FETtecESC'''
self.set_parameters({
"SERIAL5_PROTOCOL": 38,
"SERVO_FTW_MASK": 0b11101000,
"SIM_FTOWESC_ENA": 1,
"SERVO1_FUNCTION": 0,
"SERVO2_FUNCTION": 0,
"SERVO3_FUNCTION": 0,
"SERVO4_FUNCTION": 33,
"SERVO5_FUNCTION": 0,
"SERVO6_FUNCTION": 34,
"SERVO7_FUNCTION": 35,
"SERVO8_FUNCTION": 36,
})
self.customise_SITL_commandline(["--uartF=sim:fetteconewireesc"])
self.FETtecESC_safety_switch()
self.FETtecESC_esc_power_checks()
self.FETtecESC_btw_mask_checks()
self.FETtecESC_flight()
def PerfInfo(self):
'''Test Scheduler PerfInfo output'''
self.set_parameter('SCHED_OPTIONS', 1) # enable gathering
# sometimes we need to trigger collection....
content = self.fetch_file_via_ftp("@SYS/tasks.txt")
self.delay_sim_time(5)
content = self.fetch_file_via_ftp("@SYS/tasks.txt")
self.progress("Got content (%s)" % str(content))
lines = content.split("\n")
if not lines[0].startswith("TasksV2"):
raise NotAchievedException("Expected TasksV2 as first line first not (%s)" % lines[0])
# last line is empty, so -2 here
if not lines[-2].startswith("AP_Vehicle::update_arming"):
raise NotAchievedException("Expected EFI last not (%s)" % lines[-2])
def RTL_TO_RALLY(self, target_system=1, target_component=1):
'''Check RTL to rally point'''
self.wait_ready_to_arm()
rally_loc = self.home_relative_loc_ne(50, -25)
rally_alt = 37
items = [
self.mav.mav.mission_item_int_encode(
target_system,
target_component,
0, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
0, # current
0, # autocontinue
0, # p1
0, # p2
0, # p3
0, # p4
int(rally_loc.lat * 1e7), # latitude
int(rally_loc.lng * 1e7), # longitude
rally_alt, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_RALLY),
]
self.upload_using_mission_protocol(
mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
items
)
self.set_parameters({
'RALLY_INCL_HOME': 0,
})
self.takeoff(10)
self.change_mode('RTL')
self.wait_location(rally_loc)
self.assert_altitude(rally_alt, relative=True)
self.progress("Ensuring we're descending")
self.wait_altitude(20, 25, relative=True)
self.change_mode('LOITER')
self.progress("Flying home")
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.change_mode('RTL')
self.wait_disarmed()
self.assert_at_home()
def NoRCOnBootPreArmFailure(self):
'''Ensure we can't arm with no RC on boot if THR_FS_VALUE set'''
self.context_push()
for rc_failure_mode in 1, 2:
self.set_parameters({
"SIM_RC_FAIL": rc_failure_mode,
})
self.reboot_sitl()
self.assert_prearm_failure("Throttle below failsafe",
other_prearm_failures_fatal=False)
self.context_pop()
self.reboot_sitl()
def tests1a(self):
'''return list of all tests'''
ret = super(AutoTestCopter, self).tests() # about 5 mins and ~20 initial tests from autotest/common.py
ret.extend([
self.NavDelayTakeoffAbsTime,
self.NavDelayAbsTime,
self.NavDelay,
self.GuidedSubModeChange,
self.MAV_CMD_CONDITION_YAW,
self.LoiterToAlt,
self.PayLoadPlaceMission,
self.PrecisionLoiterCompanion,
self.Landing,
self.PrecisionLanding,
self.SetModesViaModeSwitch,
self.SetModesViaAuxSwitch,
self.AuxSwitchOptions,
self.AuxFunctionsInMission,
self.AutoTune,
self.NoRCOnBootPreArmFailure,
])
return ret
def tests1b(self):
'''return list of all tests'''
ret = ([
self.ThrowMode,
self.BrakeMode,
self.RecordThenPlayMission,
self.ThrottleFailsafe,
self.GCSFailsafe,
self.CustomController,
])
return ret
def tests1c(self):
'''return list of all tests'''
ret = ([
self.BatteryFailsafe,
self.VibrationFailsafe,
self.EK3AccelBias,
self.StabilityPatch,
self.OBSTACLE_DISTANCE_3D,
self.AC_Avoidance_Proximity,
self.AC_Avoidance_Fence,
self.AC_Avoidance_Beacon,
self.BaroWindCorrection,
self.SetpointGlobalPos,
self.ThrowDoubleDrop,
self.SetpointGlobalVel,
self.SplineTerrain,
self.TakeoffCheck,
])
return ret
def tests1d(self):
'''return list of all tests'''
ret = ([
self.HorizontalFence,
self.HorizontalAvoidFence,
self.MaxAltFence,
self.MinAltFence,
self.FenceFloorEnabledLanding,
self.AutoTuneSwitch,
self.GPSGlitchLoiter,
self.GPSGlitchLoiter2,
self.GPSGlitchAuto,
self.ModeAltHold,
self.ModeLoiter,
self.SimpleMode,
self.SuperSimpleCircle,
self.ModeCircle,
self.MagFail,
self.OpticalFlow,
self.OpticalFlowLimits,
self.OpticalFlowCalibration,
self.MotorFail,
self.ModeFlip,
self.CopterMission,
self.TakeoffAlt,
self.SplineLastWaypoint,
self.Gripper,
self.TestGripperMission,
self.VisionPosition,
self.ATTITUDE_FAST,
self.BaseLoggingRates,
self.BodyFrameOdom,
self.GPSViconSwitching,
])
return ret
def tests1e(self):
'''return list of all tests'''
ret = ([
self.BeaconPosition,
self.RTLSpeed,
self.Mount,
self.MountYawVehicleForMountROI,
self.Button,
self.ShipTakeoff,
self.RangeFinder,
self.BaroDrivers,
self.SurfaceTracking,
self.Parachute,
self.ParameterChecks,
self.ManualThrottleModeChange,
self.MANUAL_CONTROL,
self.ModeZigZag,
self.PosHoldTakeOff,
self.ModeFollow,
self.RangeFinderDrivers,
self.RangeFinderDriversMaxAlt,
self.MaxBotixI2CXL,
self.MAVProximity,
self.ParameterValidation,
self.AltTypes,
self.PAUSE_CONTINUE,
self.PAUSE_CONTINUE_GUIDED,
self.RichenPower,
self.IE24,
self.MAVLandedStateTakeoff,
])
return ret
def tests2a(self):
'''return list of all tests'''
ret = ([
# something about SITLCompassCalibration appears to fail
# this one, so we put it first:
self.FixedYawCalibration,
# we run this single 8min-and-40s test on its own, apart
# from requiring FixedYawCalibration right before it
# because without it, it fails to calibrate this
# autotest appears to interfere with
# FixedYawCalibration, no idea why.
self.SITLCompassCalibration,
])
return ret
def tests2b(self): # this block currently around 9.5mins here
'''return list of all tests'''
ret = ([
self.MotorVibration,
Test(self.DynamicNotches, attempts=8),
self.PositionWhenGPSIsZero,
Test(self.DynamicRpmNotches, attempts=8),
self.RefindGPS,
Test(self.GyroFFT, attempts=8),
Test(self.GyroFFTHarmonic, attempts=8),
self.GyroFFTAverage,
Test(self.GyroFFTContinuousAveraging, attempts=8),
self.CompassReordering,
self.CRSF,
self.MotorTest,
self.AltEstimation,
self.EKFSource,
self.GSF,
self.AP_Avoidance,
self.SMART_RTL,
self.RTL_TO_RALLY,
self.FlyEachFrame,
self.GPSBlending,
self.DataFlash,
Test(self.DataFlashErase, attempts=8),
self.Callisto,
self.PerfInfo,
self.Replay,
self.FETtecESC,
self.ProximitySensors,
self.GroundEffectCompensation_touchDownExpected,
self.GroundEffectCompensation_takeOffExpected,
self.DO_CHANGE_SPEED,
self.AUTO_LAND_TO_BRAKE,
self.WPNAV_SPEED,
self.WPNAV_SPEED_UP,
self.WPNAV_SPEED_DN,
self.SensorErrorFlags,
self.GPSForYaw,
self.DefaultIntervalsFromFiles,
self.GPSTypes,
self.MultipleGPS,
])
return ret
def testcan(self):
ret = ([
self.CANGPSCopterMission,
])
return ret
def tests(self):
ret = []
ret.extend(self.tests1a())
ret.extend(self.tests1b())
ret.extend(self.tests1c())
ret.extend(self.tests1d())
ret.extend(self.tests1e())
ret.extend(self.tests2a())
ret.extend(self.tests2b())
return ret
def disabled_tests(self):
return {
"Parachute": "See https://github.com/ArduPilot/ardupilot/issues/4702",
"HorizontalAvoidFence": "See https://github.com/ArduPilot/ardupilot/issues/11525",
"AltEstimation": "See https://github.com/ArduPilot/ardupilot/issues/15191",
"GroundEffectCompensation_takeOffExpected": "Flapping",
"GroundEffectCompensation_touchDownExpected": "Flapping",
}
class AutoTestCopterTests1a(AutoTestCopter):
def tests(self):
return self.tests1a()
class AutoTestCopterTests1b(AutoTestCopter):
def tests(self):
return self.tests1b()
class AutoTestCopterTests1c(AutoTestCopter):
def tests(self):
return self.tests1c()
class AutoTestCopterTests1d(AutoTestCopter):
def tests(self):
return self.tests1d()
class AutoTestCopterTests1e(AutoTestCopter):
def tests(self):
return self.tests1e()
class AutoTestCopterTests2a(AutoTestCopter):
def tests(self):
return self.tests2a()
class AutoTestCopterTests2b(AutoTestCopter):
def tests(self):
return self.tests2b()
class AutoTestCAN(AutoTestCopter):
def tests(self):
return self.testcan()
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