mirror of https://github.com/ArduPilot/ardupilot
135 lines
4.1 KiB
Python
135 lines
4.1 KiB
Python
#!/usr/bin/env python
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# Drive balancebot in SITL
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from __future__ import print_function
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import os
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from rover import AutoTestRover
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from common import AutoTest
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from common import NotAchievedException
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# get location of scripts
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testdir = os.path.dirname(os.path.realpath(__file__))
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def log_name(self):
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return "BalanceBot"
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class AutoTestBalanceBot(AutoTestRover):
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def vehicleinfo_key(self):
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return "Rover"
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def init(self):
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if self.frame is None:
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self.frame = 'balancebot'
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super(AutoTestBalanceBot, self).init()
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def test_do_set_mode_via_command_long(self):
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self.do_set_mode_via_command_long("HOLD")
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self.do_set_mode_via_command_long("MANUAL")
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def rc_defaults(self):
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ret = super(AutoTestBalanceBot, self).rc_defaults()
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ret[3] = 1500
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return ret
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def is_balancebot(self):
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return True
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def drive_rtl_mission_max_distance_from_home(self):
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'''maximum distance allowed from home at end'''
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'''balancebot tends to wander backwards, away from the target'''
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return 8
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def drive_rtl_mission(self):
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# if we Hold then the balancebot continues to wander
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# indefinitely at ~1m/s, hence we set to Acro
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self.set_parameter("MIS_DONE_BEHAVE", 2)
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super(AutoTestBalanceBot, self).drive_rtl_mission()
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def test_wheelencoders(self):
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'''make sure wheel encoders are generally working'''
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ex = None
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try:
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self.set_parameter("ATC_BAL_SPD_FF", 0)
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self.set_parameter("WENC_TYPE", 10)
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self.set_parameter("AHRS_EKF_TYPE", 10)
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self.reboot_sitl()
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self.set_parameter("WENC2_TYPE", 10)
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self.set_parameter("WENC_POS_Y", 0.075)
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self.set_parameter("WENC2_POS_Y", -0.075)
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self.reboot_sitl()
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self.change_mode("HOLD")
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self.wait_ready_to_arm()
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self.change_mode("ACRO")
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self.arm_vehicle()
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self.set_rc(3, 1600)
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m = self.mav.recv_match(type='WHEEL_DISTANCE', blocking=True, timeout=5)
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if m is None:
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raise NotAchievedException("Did not get WHEEL_DISTANCE")
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tstart = self.get_sim_time()
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while True:
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if self.get_sim_time_cached() - tstart > 10:
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break
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dist_home = self.distance_to_home(use_cached_home=True)
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m = self.mav.messages.get("WHEEL_DISTANCE")
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delta = abs(m.distance[0] - dist_home)
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self.progress("dist-home=%f wheel-distance=%f delta=%f" %
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(dist_home, m.distance[0], delta))
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if delta > 5:
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raise NotAchievedException("wheel distance incorrect")
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self.disarm_vehicle()
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except Exception as e:
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self.progress("Caught exception: %s" %
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self.get_exception_stacktrace(e))
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self.disarm_vehicle()
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ex = e
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self.reboot_sitl()
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if ex is not None:
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raise ex
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def tests(self):
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'''return list of all tests'''
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'''note that while AutoTestBalanceBot inherits from Rover we don't
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inherit Rover's tests!'''
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ret = AutoTest.tests(self)
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ret.extend([
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("DriveRTL",
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"Drive an RTL Mission",
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self.drive_rtl_mission),
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("DriveMission",
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"Drive Mission %s" % "balancebot1.txt",
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lambda: self.drive_mission("balancebot1.txt")),
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("TestWheelEncoder",
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"Test wheel encoders",
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self.test_wheelencoders),
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("GetBanner", "Get Banner", self.do_get_banner),
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("DO_SET_MODE",
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"Set mode via MAV_COMMAND_DO_SET_MODE",
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self.test_do_set_mode_via_command_long),
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("ServoRelayEvents",
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"Test ServoRelayEvents",
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self.test_servorelayevents),
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("LogUpload",
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"Upload logs",
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self.log_upload),
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])
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return ret
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def default_mode(self):
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return 'MANUAL'
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