mirror of https://github.com/ArduPilot/ardupilot
432 lines
16 KiB
Python
432 lines
16 KiB
Python
#!/usr/bin/env python
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# Fly ArduPlane QuadPlane in SITL
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from __future__ import print_function
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import os
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import numpy
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import math
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from pymavlink import mavutil
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from common import AutoTest
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from common import AutoTestTimeoutException, NotAchievedException
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from pysim import vehicleinfo
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import operator
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# get location of scripts
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testdir = os.path.dirname(os.path.realpath(__file__))
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WIND = "0,180,0.2" # speed,direction,variance
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SITL_START_LOCATION = mavutil.location(-27.274439, 151.290064, 343, 8.7)
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class AutoTestQuadPlane(AutoTest):
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@staticmethod
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def get_not_armable_mode_list():
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return []
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@staticmethod
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def get_not_disarmed_settable_modes_list():
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return []
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@staticmethod
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def get_no_position_not_settable_modes_list():
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return []
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@staticmethod
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def get_position_armable_modes_list():
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return []
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@staticmethod
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def get_normal_armable_modes_list():
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return []
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def default_frame(self):
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return "quadplane"
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def test_filepath(self):
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return os.path.realpath(__file__)
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def sitl_start_location(self):
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return SITL_START_LOCATION
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def log_name(self):
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return "QuadPlane"
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def set_current_test_name(self, name):
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self.current_test_name_directory = "ArduPlane_Tests/" + name + "/"
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def apply_defaultfile_parameters(self):
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# plane passes in a defaults_file in place of applying
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# parameters afterwards.
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pass
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def defaults_filepath(self):
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vinfo = vehicleinfo.VehicleInfo()
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defaults_file = vinfo.options["ArduPlane"]["frames"][self.frame]["default_params_filename"]
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if isinstance(defaults_file, str):
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defaults_file = [defaults_file]
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defaults_list = []
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for d in defaults_file:
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defaults_list.append(os.path.join(testdir, d))
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return ','.join(defaults_list)
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def is_plane(self):
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return True
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def get_stick_arming_channel(self):
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return int(self.get_parameter("RCMAP_YAW"))
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def get_disarm_delay(self):
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return int(self.get_parameter("LAND_DISARMDELAY"))
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def set_autodisarm_delay(self, delay):
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self.set_parameter("LAND_DISARMDELAY", delay)
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def test_motor_mask(self):
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"""Check operation of output_motor_mask"""
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"""copter tailsitters will add condition: or (int(self.get_parameter('Q_TAILSIT_MOTMX')) & 1)"""
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if not(int(self.get_parameter('Q_TILT_MASK')) & 1):
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self.progress("output_motor_mask not in use")
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return
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self.progress("Testing output_motor_mask")
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self.wait_ready_to_arm()
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"""Default channel for Motor1 is 5"""
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self.progress('Assert that SERVO5 is Motor1')
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assert(33 == self.get_parameter('SERVO5_FUNCTION'))
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modes = ('MANUAL', 'FBWA', 'QHOVER')
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for mode in modes:
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self.progress("Testing %s mode" % mode)
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self.change_mode(mode)
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self.arm_vehicle()
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self.progress("Raising throttle")
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self.set_rc(3, 1800)
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self.progress("Waiting for Motor1 to start")
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self.wait_servo_channel_value(5, 1100, comparator=operator.gt)
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self.set_rc(3, 1000)
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self.disarm_vehicle()
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self.wait_ready_to_arm()
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def fly_mission(self, filename, fence=None, height_accuracy=-1):
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"""Fly a mission from a file."""
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self.progress("Flying mission %s" % filename)
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self.load_mission(filename)
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if fence is not None:
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self.load_fence(fence)
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self.mavproxy.send('wp list\n')
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self.mavproxy.expect('Requesting [0-9]+ waypoints')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.mavproxy.send('mode AUTO\n')
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self.wait_mode('AUTO')
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self.wait_waypoint(1, 19, max_dist=60, timeout=1200)
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self.wait_disarmed(timeout=120) # give quadplane a long time to land
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# wait for blood sample here
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self.mavproxy.send('wp set 20\n')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.wait_waypoint(20, 34, max_dist=60, timeout=1200)
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self.wait_disarmed(timeout=120) # give quadplane a long time to land
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self.progress("Mission OK")
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def fly_qautotune(self):
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self.change_mode("QHOVER")
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.set_rc(3, 1800)
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self.wait_altitude(30,
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40,
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relative=True,
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timeout=30)
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self.set_rc(3, 1500)
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self.change_mode("QAUTOTUNE")
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tstart = self.get_sim_time()
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sim_time_expected = 5000
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deadline = tstart + sim_time_expected
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while self.get_sim_time_cached() < deadline:
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now = self.get_sim_time_cached()
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m = self.mav.recv_match(type='STATUSTEXT',
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blocking=True,
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timeout=1)
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if m is None:
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continue
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self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text))
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if "AutoTune: Success" in m.text:
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break
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self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
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self.set_rc(3, 1200)
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self.wait_altitude(-5, 1, relative=True, timeout=30)
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while self.get_sim_time_cached() < deadline:
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self.mavproxy.send('disarm\n')
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try:
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self.wait_text("AutoTune: Saved gains for Roll Pitch Yaw", timeout=0.5)
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except AutoTestTimeoutException as e:
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continue
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break
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self.wait_disarmed()
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def takeoff(self, height, mode):
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self.change_mode(mode)
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.set_rc(3, 1800)
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self.wait_altitude(height,
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height+5,
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relative=True,
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timeout=30)
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self.set_rc(3, 1500)
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def do_RTL(self):
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self.change_mode("QRTL")
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self.wait_altitude(-5, 1, relative=True, timeout=60)
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self.wait_disarmed()
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def fly_home_land_and_disarm(self):
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self.set_parameter("LAND_TYPE", 0)
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filename = "flaps.txt"
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self.progress("Using %s to fly home" % filename)
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self.load_mission(filename)
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self.change_mode("AUTO")
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self.mavproxy.send('wp set 7\n')
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self.wait_disarmed()
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def wait_level_flight(self, accuracy=5, timeout=30):
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"""Wait for level flight."""
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tstart = self.get_sim_time()
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self.progress("Waiting for level flight")
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self.set_rc(1, 1500)
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self.set_rc(2, 1500)
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self.set_rc(4, 1500)
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while self.get_sim_time_cached() < tstart + timeout:
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m = self.mav.recv_match(type='ATTITUDE', blocking=True)
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roll = math.degrees(m.roll)
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pitch = math.degrees(m.pitch)
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self.progress("Roll=%.1f Pitch=%.1f" % (roll, pitch))
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if math.fabs(roll) <= accuracy and math.fabs(pitch) <= accuracy:
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self.progress("Attained level flight")
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return
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raise NotAchievedException("Failed to attain level flight")
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def fly_left_circuit(self):
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"""Fly a left circuit, 200m on a side."""
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self.mavproxy.send('switch 4\n')
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self.change_mode('FBWA')
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self.set_rc(3, 1700)
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self.wait_level_flight()
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self.progress("Flying left circuit")
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# do 4 turns
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for i in range(0, 4):
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# hard left
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self.progress("Starting turn %u" % i)
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self.set_rc(1, 1000)
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self.wait_heading(270 - (90*i), accuracy=10)
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self.set_rc(1, 1500)
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self.progress("Starting leg %u" % i)
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self.wait_distance(100, accuracy=20)
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self.progress("Circuit complete")
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self.change_mode('QHOVER')
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self.set_rc(3, 1100)
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self.wait_altitude(10, 15,
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relative=True,
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timeout=60)
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self.set_rc(3, 1500)
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def hover_and_check_matched_frequency(self, dblevel=-15, minhz=200, maxhz=300, fftLength=32, peakhz=None):
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# find a motor peak
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self.takeoff(10, mode="QHOVER")
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hover_time = 15
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tstart = self.get_sim_time()
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self.progress("Hovering for %u seconds" % hover_time)
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while self.get_sim_time_cached() < tstart + hover_time:
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self.mav.recv_match(type='ATTITUDE', blocking=True)
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vfr_hud = self.mav.recv_match(type='VFR_HUD', blocking=True)
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tend = self.get_sim_time()
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self.do_RTL()
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psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
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# batch sampler defaults give 1024 fft and sample rate of 1kz so roughly 1hz/bin
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freq = psd["F"][numpy.argmax(psd["X"][minhz:maxhz]) + minhz] * (1000. / 1024.)
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peakdb = numpy.amax(psd["X"][minhz:maxhz])
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if peakdb < dblevel or (peakhz is not None and abs(freq - peakhz) / peakhz > 0.05):
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raise NotAchievedException("Did not detect a motor peak, found %fHz at %fdB" % (freq, peakdb))
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else:
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self.progress("Detected motor peak at %fHz, throttle %f%%, %fdB" % (freq, vfr_hud.throttle, peakdb))
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# we have a peak make sure that the FFT detected something close
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# logging is at 10Hz
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mlog = self.dfreader_for_current_onboard_log()
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# accuracy is determined by sample rate and fft length, given our use of quinn we could probably use half of this
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freqDelta = 1000. / fftLength
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pkAvg = freq
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while True:
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m = mlog.recv_match(
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type='FTN1',
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blocking=True,
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condition="FTN1.TimeUS>%u and FTN1.TimeUS<%u" % (tstart * 1.0e6, tend * 1.0e6))
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if m is None:
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break
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pkAvg = pkAvg + (0.1 * (m.PkAvg - pkAvg))
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# peak within resolution of FFT length
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if abs(pkAvg - freq) > freqDelta:
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raise NotAchievedException("FFT did not detect a motor peak at %f, found %f, wanted %f" % (dblevel, pkAvg, freq))
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return freq
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def fly_gyro_fft(self):
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"""Use dynamic harmonic notch to control motor noise."""
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# basic gyro sample rate test
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self.progress("Flying with gyro FFT - Gyro sample rate")
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self.context_push()
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ex = None
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try:
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self.set_rc_default()
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# magic tridge EKF type that dramatically speeds up the test
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self.set_parameter("AHRS_EKF_TYPE", 10)
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self.set_parameter("INS_LOG_BAT_MASK", 3)
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self.set_parameter("INS_LOG_BAT_OPT", 0)
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self.set_parameter("INS_GYRO_FILTER", 100)
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self.set_parameter("LOG_BITMASK", 45054)
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self.set_parameter("LOG_DISARMED", 0)
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self.set_parameter("SIM_DRIFT_SPEED", 0)
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self.set_parameter("SIM_DRIFT_TIME", 0)
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# enable a noisy motor peak
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self.set_parameter("SIM_GYR_RND", 20)
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# enabling FFT will also enable the arming check, self-testing the functionality
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self.set_parameter("FFT_ENABLE", 1)
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self.set_parameter("FFT_MINHZ", 80)
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self.set_parameter("FFT_MAXHZ", 350)
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self.set_parameter("FFT_SNR_REF", 10)
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self.set_parameter("FFT_WINDOW_SIZE", 128)
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self.set_parameter("FFT_WINDOW_OLAP", 0.75)
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# Step 1: inject a very precise noise peak at 250hz and make sure the in-flight fft
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# can detect it really accurately. For a 128 FFT the frequency resolution is 8Hz so
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# a 250Hz peak should be detectable within 5%
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self.set_parameter("SIM_VIB_FREQ_X", 250)
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self.set_parameter("SIM_VIB_FREQ_Y", 250)
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self.set_parameter("SIM_VIB_FREQ_Z", 250)
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self.reboot_sitl()
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# find a motor peak
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self.hover_and_check_matched_frequency(-15, 100, 350, 128, 250)
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# Step 2: inject actual motor noise and use the standard length FFT to track it
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self.set_parameter("SIM_VIB_MOT_MAX", 350)
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self.set_parameter("FFT_WINDOW_SIZE", 32)
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self.set_parameter("FFT_WINDOW_OLAP", 0.5)
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self.reboot_sitl()
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# find a motor peak
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freq = self.hover_and_check_matched_frequency(-15, 200, 300, 32)
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# Step 3: add a FFT dynamic notch and check that the peak is squashed
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self.set_parameter("INS_LOG_BAT_OPT", 2)
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self.set_parameter("INS_HNTCH_ENABLE", 1)
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self.set_parameter("INS_HNTCH_FREQ", freq)
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self.set_parameter("INS_HNTCH_REF", 1.0)
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self.set_parameter("INS_HNTCH_ATT", 50)
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self.set_parameter("INS_HNTCH_BW", freq/2)
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self.set_parameter("INS_HNTCH_MODE", 4)
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self.reboot_sitl()
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self.takeoff(10, mode="QHOVER")
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hover_time = 15
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ignore_bins = 20
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self.progress("Hovering for %u seconds" % hover_time)
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tstart = self.get_sim_time()
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while self.get_sim_time_cached() < tstart + hover_time:
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self.mav.recv_match(type='ATTITUDE', blocking=True)
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tend = self.get_sim_time()
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self.do_RTL()
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psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
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freq = psd["F"][numpy.argmax(psd["X"][ignore_bins:]) + ignore_bins]
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if numpy.amax(psd["X"][ignore_bins:]) < -15:
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self.progress("Did not detect a motor peak, found %f at %f dB" % (freq, numpy.amax(psd["X"][ignore_bins:])))
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else:
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raise NotAchievedException("Detected motor peak at %f Hz" % (freq))
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# Step 4: take off as a copter land as a plane, make sure we track
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self.progress("Flying with gyro FFT - vtol to plane")
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self.load_mission("quadplane-gyro-mission.txt")
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self.mavproxy.send('wp list\n')
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self.mavproxy.expect('Requesting [0-9]+ waypoints')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.mavproxy.send('mode AUTO\n')
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self.wait_mode('AUTO')
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self.wait_waypoint(1, 7, max_dist=60, timeout=1200)
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self.wait_disarmed(timeout=120) # give quadplane a long time to land
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# prevent update parameters from messing with the settings when we pop the context
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self.set_parameter("FFT_ENABLE", 0)
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self.reboot_sitl()
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except Exception as e:
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self.progress("Exception caught: %s" % (
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self.get_exception_stacktrace(e)))
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ex = e
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self.context_pop()
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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 test_pid_tuning(self):
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self.change_mode("FBWA") # we don't update PIDs in MANUAL
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super(AutoTestQuadPlane, self).test_pid_tuning()
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def test_parameter_checks(self):
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self.test_parameter_checks_poscontrol("Q_P")
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def default_mode(self):
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return "MANUAL"
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def disabled_tests(self):
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return {
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"QAutoTune": "See https://github.com/ArduPilot/ardupilot/issues/10411",
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"FRSkyPassThrough": "Currently failing",
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"CPUFailsafe": "servo channel values not scaled like ArduPlane",
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}
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def CPUFailsafe(self):
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'''In lockup Plane should copy RC inputs to RC outputs'''
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self.plane_CPUFailsafe()
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def tests(self):
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'''return list of all tests'''
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ret = super(AutoTestQuadPlane, self).tests()
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ret.extend([
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("TestMotorMask", "Test output_motor_mask", self.test_motor_mask),
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("ParameterChecks",
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"Test Arming Parameter Checks",
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self.test_parameter_checks),
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("Mission", "Dalby Mission",
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lambda: self.fly_mission("Dalby-OBC2016.txt", "Dalby-OBC2016-fence.txt")),
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("GyroFFT", "Fly Gyro FFT",
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self.fly_gyro_fft)
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])
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return ret
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