mirror of https://github.com/ArduPilot/ardupilot
376 lines
12 KiB
Python
376 lines
12 KiB
Python
#!/usr/bin/env python
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# Dive ArduSub in SITL
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from __future__ import print_function
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import os
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from pymavlink import mavutil
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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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SITL_START_LOCATION = mavutil.location(33.810313, -118.393867, 0, 185)
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class Joystick():
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Pitch = 1
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Roll = 2
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Throttle = 3
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Yaw = 4
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Forward = 5
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Lateral = 6
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class AutoTestSub(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 ["AUTO", "GUIDED", "CIRCLE", "POSHOLD"]
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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 ["ACRO", "ALT_HOLD", "MANUAL", "STABILIZE", "SURFACE"]
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def log_name(self):
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return "ArduSub"
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def test_filepath(self):
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return os.path.realpath(__file__)
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def set_current_test_name(self, name):
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self.current_test_name_directory = "ArduSub_Tests/" + name + "/"
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def default_mode(self):
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return 'MANUAL'
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def sitl_start_location(self):
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return SITL_START_LOCATION
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def default_frame(self):
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return 'vectored'
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def is_sub(self):
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return True
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def watch_altitude_maintained(self, delta=1, timeout=5.0):
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"""Watch and wait for the actual altitude to be maintained
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Keyword Arguments:
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delta {float} -- Maximum altitude range to be allowed from actual point (default: {0.5})
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timeout {float} -- Timeout time in simulation seconds (default: {5.0})
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Raises:
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NotAchievedException: Exception when altitude fails to hold inside the time and
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altitude range
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"""
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tstart = self.get_sim_time_cached()
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previous_altitude = self.mav.recv_match(type='VFR_HUD', blocking=True).alt
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self.progress('Altitude to be watched: %f' % (previous_altitude))
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while True:
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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if self.get_sim_time_cached() - tstart > timeout:
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self.progress('Altitude hold done: %f' % (previous_altitude))
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return
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if abs(m.alt - previous_altitude) > delta:
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raise NotAchievedException("Altitude not maintained: want %.2f (+/- %.2f) got=%.2f" % (previous_altitude, delta, m.alt))
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def test_alt_hold(self):
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"""Test ALT_HOLD mode
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"""
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.mavproxy.send('mode ALT_HOLD\n')
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self.wait_mode('ALT_HOLD')
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msg = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=5)
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if msg is None:
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raise NotAchievedException("Did not get GLOBAL_POSITION_INT")
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pwm = 1000
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if msg.relative_alt/1000.0 < -5.5:
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# need to g`o up, not down!
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pwm = 2000
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self.set_rc(Joystick.Throttle, pwm)
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self.wait_altitude(altitude_min=-6, altitude_max=-5)
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self.set_rc(Joystick.Throttle, 1500)
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# let the vehicle settle (momentum / stopping point shenanigans....)
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self.delay_sim_time(1)
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self.watch_altitude_maintained()
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self.set_rc(Joystick.Throttle, 1000)
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self.wait_altitude(altitude_min=-20, altitude_max=-19)
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self.set_rc(Joystick.Throttle, 1500)
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# let the vehicle settle (momentum / stopping point shenanigans....)
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self.delay_sim_time(1)
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self.watch_altitude_maintained()
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self.set_rc(Joystick.Throttle, 1900)
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self.wait_altitude(altitude_min=-14, altitude_max=-13)
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self.set_rc(Joystick.Throttle, 1500)
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# let the vehicle settle (momentum / stopping point shenanigans....)
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self.delay_sim_time(1)
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self.watch_altitude_maintained()
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self.set_rc(Joystick.Throttle, 1900)
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self.wait_altitude(altitude_min=-5, altitude_max=-4)
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self.set_rc(Joystick.Throttle, 1500)
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# let the vehicle settle (momentum / stopping point shenanigans....)
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self.delay_sim_time(1)
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self.watch_altitude_maintained()
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self.disarm_vehicle()
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def test_pos_hold(self):
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"""Test POSHOLD mode"""
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self.wait_ready_to_arm()
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self.arm_vehicle()
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# point North
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self.reach_heading_manual(0)
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self.mavproxy.send('mode POSHOLD\n')
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self.wait_mode('POSHOLD')
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#dive a little
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self.set_rc(Joystick.Throttle, 1300)
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self.delay_sim_time(3)
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self.set_rc(Joystick.Throttle, 1500)
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self.delay_sim_time(2)
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# Save starting point
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msg = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=5)
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if msg is None:
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raise NotAchievedException("Did not get GLOBAL_POSITION_INT")
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start_pos = self.mav.location()
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# Hold in perfect conditions
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self.progress("Testing position hold in perfect conditions")
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self.delay_sim_time(10)
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distance_m = self.get_distance(start_pos, self.mav.location())
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if distance_m > 1:
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raise NotAchievedException("Position Hold was unable to keep position in calm waters within 1 meter after 10 seconds, drifted {} meters".format(distance_m))
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# Hold in 1 m/s current
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self.progress("Testing position hold in current")
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self.set_parameter("SIM_WIND_SPD", 1)
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self.set_parameter("SIM_WIND_T", 1)
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self.delay_sim_time(10)
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distance_m = self.get_distance(start_pos, self.mav.location())
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if distance_m > 1:
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raise NotAchievedException("Position Hold was unable to keep position in 1m/s current within 1 meter after 10 seconds, drifted {} meters".format(distance_m))
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# Move forward slowly in 1 m/s current
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start_pos = self.mav.location()
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self.progress("Testing moving forward in position hold in 1m/s current")
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self.set_rc(Joystick.Forward, 1600)
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self.delay_sim_time(10)
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distance_m = self.get_distance(start_pos, self.mav.location())
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bearing = self.get_bearing(start_pos, self.mav.location())
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if distance_m < 2 or (bearing > 30 and bearing < 330):
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raise NotAchievedException("Position Hold was unable to move north 2 meters, moved {} at {} degrees instead".format(distance_m, bearing))
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self.disarm_vehicle()
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def test_mot_thst_hover_ignore(self):
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"""Test if we are ignoring MOT_THST_HOVER parameter
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"""
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# Test default parameter value
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mot_thst_hover_value = self.get_parameter("MOT_THST_HOVER")
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if mot_thst_hover_value != 0.5:
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raise NotAchievedException("Unexpected default MOT_THST_HOVER parameter value {}".format(mot_thst_hover_value))
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# Test if parameter is being ignored
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for value in [0.25, 0.75]:
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self.set_parameter("MOT_THST_HOVER", value)
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self.test_alt_hold()
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def dive_manual(self):
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.set_rc(Joystick.Throttle, 1600)
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self.set_rc(Joystick.Forward, 1600)
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self.set_rc(Joystick.Lateral, 1550)
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self.wait_distance(50, accuracy=7, timeout=200)
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self.set_rc(Joystick.Yaw, 1550)
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self.wait_heading(0)
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self.set_rc(Joystick.Yaw, 1500)
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self.wait_distance(50, accuracy=7, timeout=100)
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self.set_rc(Joystick.Yaw, 1550)
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self.wait_heading(0)
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self.set_rc(Joystick.Yaw, 1500)
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self.set_rc(Joystick.Forward, 1500)
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self.set_rc(Joystick.Lateral, 1100)
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self.wait_distance(75, accuracy=7, timeout=100)
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self.set_rc_default()
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self.disarm_vehicle()
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self.progress("Manual dive OK")
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def dive_mission(self, filename):
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self.progress("Executing mission %s" % filename)
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self.load_mission(filename)
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self.set_rc_default()
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self.arm_vehicle()
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self.change_mode('AUTO')
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self.wait_waypoint(1, 5, max_dist=5)
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self.disarm_vehicle()
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self.progress("Mission OK")
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def test_gripper_mission(self):
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with self.Context(self):
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self.test_gripper_body()
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def test_gripper_body(self):
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ex = None
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try:
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try:
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self.get_parameter("GRIP_ENABLE", timeout=5)
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except NotAchievedException as e:
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self.progress("Skipping; Gripper not enabled in config?")
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return
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self.load_mission("sub-gripper-mission.txt")
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self.mavproxy.send('mode loiter\n')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.change_mode('AUTO')
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self.mavproxy.expect("Gripper Grabbed")
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self.mavproxy.expect("Gripper Released")
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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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if ex is not None:
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raise ex
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def dive_set_position_target(self):
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self.change_mode('GUIDED')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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startpos = self.mav.recv_match(type='GLOBAL_POSITION_INT',
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blocking=True)
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lat = 5
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lon = 5
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alt = -10
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# send a position-control command
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self.mav.mav.set_position_target_global_int_send(
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0, # timestamp
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1, # target system_id
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1, # target component id
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mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
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0b1111111111111000, # mask specifying use-only-lat-lon-alt
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lat, # lat
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lon, # lon
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alt, # alt
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0, # vx
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0, # vy
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0, # vz
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0, # afx
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0, # afy
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0, # afz
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0, # yaw
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0, # yawrate
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)
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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 > 200:
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raise NotAchievedException("Did not move far enough")
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pos = self.mav.recv_match(type='GLOBAL_POSITION_INT',
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blocking=True)
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delta = self.get_distance_int(startpos, pos)
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self.progress("delta=%f (want >10)" % delta)
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if delta > 10:
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break
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self.change_mode('MANUAL')
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self.disarm_vehicle()
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def reboot_sitl(self):
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"""Reboot SITL instance and wait it to reconnect."""
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self.mavproxy.send("reboot\n")
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self.mavproxy.expect("Init ArduSub")
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# empty mav to avoid getting old timestamps:
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while self.mav.recv_match(blocking=False):
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pass
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self.initialise_after_reboot_sitl()
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def apply_defaultfile_parameters(self):
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super(AutoTestSub, self).apply_defaultfile_parameters()
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# FIXME:
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self.set_parameter("FS_GCS_ENABLE", 0)
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def disabled_tests(self):
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ret = super(AutoTestSub, self).disabled_tests()
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ret.update({
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"ConfigErrorLoop": "Sub does not instantiate AP_Stats. Also see https://github.com/ArduPilot/ardupilot/issues/10247",
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})
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return ret
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def tests(self):
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'''return list of all tests'''
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ret = super(AutoTestSub, self).tests()
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ret.extend([
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("DiveManual", "Dive manual", self.dive_manual),
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("AltitudeHold", "Test altitude holde mode", self.test_alt_hold),
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("PositionHold", "Test position hold mode", self.test_pos_hold),
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("DiveMission",
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"Dive mission",
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lambda: self.dive_mission("sub_mission.txt")),
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("GripperMission",
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"Test gripper mission items",
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self.test_gripper_mission),
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("MotorThrustHoverParameterIgnore", "Test if we are ignoring MOT_THST_HOVER", self.test_mot_thst_hover_ignore),
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("SET_POSITION_TARGET_GLOBAL_INT",
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"Move vehicle using SET_POSITION_TARGET_GLOBAL_INT",
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self.dive_set_position_target),
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("TestLogDownloadMAVProxy",
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"Test Onboard Log Download using MAVProxy",
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self.test_log_download_mavproxy),
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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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