mirror of https://github.com/ArduPilot/ardupilot
825 lines
30 KiB
Python
825 lines
30 KiB
Python
'''
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Fly Helicopter in SITL
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AP_FLAKE8_CLEAN
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'''
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from __future__ import print_function
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from arducopter import AutoTestCopter
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from common import AutoTest
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from common import NotAchievedException, AutoTestTimeoutException
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from pymavlink import mavutil
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from pysim import vehicleinfo
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import copy
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class AutoTestHelicopter(AutoTestCopter):
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sitl_start_loc = mavutil.location(40.072842, -105.230575, 1586, 0) # Sparkfun AVC Location
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def vehicleinfo_key(self):
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return 'Helicopter'
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def log_name(self):
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return "HeliCopter"
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def default_frame(self):
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return "heli"
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def sitl_start_location(self):
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return self.sitl_start_loc
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def default_speedup(self):
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'''Heli seems to be race-free'''
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return 100
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def is_heli(self):
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return True
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def rc_defaults(self):
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ret = super(AutoTestHelicopter, self).rc_defaults()
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ret[8] = 1000
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ret[3] = 1000 # collective
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return ret
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@staticmethod
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def get_position_armable_modes_list():
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'''filter THROW mode out of armable modes list; Heli is special-cased'''
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ret = AutoTestCopter.get_position_armable_modes_list()
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ret = filter(lambda x : x != "THROW", ret)
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return ret
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def loiter_requires_position(self):
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self.progress("Skipping loiter-requires-position for heli; rotor runup issues")
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def get_collective_out(self):
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servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
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chan_pwm = (servo.servo1_raw + servo.servo2_raw + servo.servo3_raw)/3.0
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return chan_pwm
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def RotorRunup(self):
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'''Test rotor runip'''
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# Takeoff and landing in Loiter
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TARGET_RUNUP_TIME = 10
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self.zero_throttle()
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self.change_mode('LOITER')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
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coll = servo.servo1_raw
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coll = coll + 50
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self.set_parameter("H_RSC_RUNUP_TIME", TARGET_RUNUP_TIME)
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self.progress("Initiate Runup by putting some throttle")
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self.set_rc(8, 2000)
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self.set_rc(3, 1700)
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self.progress("Collective threshold PWM %u" % coll)
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tstart = self.get_sim_time()
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self.progress("Wait that collective PWM pass threshold value")
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servo = self.mav.recv_match(condition='SERVO_OUTPUT_RAW.servo1_raw>%u' % coll, blocking=True)
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runup_time = self.get_sim_time() - tstart
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self.progress("Collective is now at PWM %u" % servo.servo1_raw)
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self.mav.wait_heartbeat()
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if runup_time < TARGET_RUNUP_TIME:
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self.zero_throttle()
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self.set_rc(8, 1000)
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self.disarm_vehicle()
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self.mav.wait_heartbeat()
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raise NotAchievedException("Takeoff initiated before runup time complete %u" % runup_time)
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self.progress("Runup time %u" % runup_time)
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self.zero_throttle()
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self.set_rc(8, 1000)
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self.land_and_disarm()
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self.mav.wait_heartbeat()
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# fly_avc_test - fly AVC mission
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def AVCMission(self):
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'''fly AVC mission'''
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self.change_mode('STABILIZE')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.progress("Raising rotor speed")
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self.set_rc(8, 2000)
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# upload mission from file
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self.progress("# Load copter_AVC2013_mission")
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# load the waypoint count
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num_wp = self.load_mission("copter_AVC2013_mission.txt", strict=False)
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if not num_wp:
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raise NotAchievedException("load copter_AVC2013_mission failed")
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self.progress("Fly AVC mission from 1 to %u" % num_wp)
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self.set_current_waypoint(1)
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# wait for motor runup
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self.delay_sim_time(20)
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# switch into AUTO mode and raise throttle
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self.change_mode('AUTO')
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self.set_rc(3, 1500)
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# fly the mission
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self.wait_waypoint(0, num_wp-1, timeout=500)
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# set throttle to minimum
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self.zero_throttle()
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# wait for disarm
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self.wait_disarmed()
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self.progress("MOTORS DISARMED OK")
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self.progress("Lowering rotor speed")
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self.set_rc(8, 1000)
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self.progress("AVC mission completed: passed!")
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def takeoff(self,
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alt_min=30,
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takeoff_throttle=1700,
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require_absolute=True,
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mode="STABILIZE",
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timeout=120):
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"""Takeoff get to 30m altitude."""
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self.progress("TAKEOFF")
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self.change_mode(mode)
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if not self.armed():
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self.wait_ready_to_arm(require_absolute=require_absolute, timeout=timeout)
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self.zero_throttle()
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self.arm_vehicle()
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self.progress("Raising rotor speed")
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self.set_rc(8, 2000)
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self.progress("wait for rotor runup to complete")
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if self.get_parameter("H_RSC_MODE") == 4:
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self.context_collect('STATUSTEXT')
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self.wait_statustext("Governor Engaged", check_context=True)
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elif self.get_parameter("H_RSC_MODE") == 3:
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self.wait_rpm(1, 1300, 1400)
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else:
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self.wait_servo_channel_value(8, 1659, timeout=10)
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# wait for motor runup
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self.delay_sim_time(20)
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if mode == 'GUIDED':
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self.user_takeoff(alt_min=alt_min)
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else:
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self.set_rc(3, takeoff_throttle)
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self.wait_for_alt(alt_min=alt_min, timeout=timeout)
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self.hover()
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self.progress("TAKEOFF COMPLETE")
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def FlyEachFrame(self):
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'''Fly each supported internal frame'''
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vinfo = vehicleinfo.VehicleInfo()
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vinfo_options = vinfo.options[self.vehicleinfo_key()]
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known_broken_frames = {
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}
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for frame in sorted(vinfo_options["frames"].keys()):
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self.start_subtest("Testing frame (%s)" % str(frame))
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if frame in known_broken_frames:
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self.progress("Actually, no I'm not - it is known-broken (%s)" %
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(known_broken_frames[frame]))
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continue
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frame_bits = vinfo_options["frames"][frame]
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print("frame_bits: %s" % str(frame_bits))
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if frame_bits.get("external", False):
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self.progress("Actually, no I'm not - it is an external simulation")
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continue
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model = frame_bits.get("model", frame)
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# the model string for Callisto has crap in it.... we
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# should really have another entry in the vehicleinfo data
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# to carry the path to the JSON.
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actual_model = model.split(":")[0]
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defaults = self.model_defaults_filepath(actual_model)
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if type(defaults) != list:
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defaults = [defaults]
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self.customise_SITL_commandline(
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["--defaults", ','.join(defaults), ],
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model=model,
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wipe=True,
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)
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self.takeoff(10)
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self.do_RTL()
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self.set_rc(8, 1000)
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def governortest(self):
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'''Test Heli Internal Throttle Curve and Governor'''
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self.customise_SITL_commandline(
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["--defaults", ','.join(self.model_defaults_filepath('heli-gas')), ],
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model="heli-gas",
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wipe=True,
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)
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self.set_parameter("H_RSC_MODE", 4)
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self.takeoff(10)
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self.do_RTL()
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self.set_rc(8, 1000)
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def hover(self):
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self.progress("Setting hover collective")
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self.set_rc(3, 1500)
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def PosHoldTakeOff(self):
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"""ensure vehicle stays put until it is ready to fly"""
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self.context_push()
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ex = None
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try:
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self.set_parameter("PILOT_TKOFF_ALT", 700)
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self.change_mode('POSHOLD')
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self.zero_throttle()
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self.set_rc(8, 1000)
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self.wait_ready_to_arm()
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# Arm
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self.arm_vehicle()
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self.progress("Raising rotor speed")
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self.set_rc(8, 2000)
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self.progress("wait for rotor runup to complete")
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self.wait_servo_channel_value(8, 1659, timeout=10)
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self.delay_sim_time(20)
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# check we are still on the ground...
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m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
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max_relalt_mm = 1000
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if abs(m.relative_alt) > max_relalt_mm:
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raise NotAchievedException("Took off prematurely (abs(%f)>%f)" %
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(m.relative_alt, max_relalt_mm))
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self.progress("Pushing collective past half-way")
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self.set_rc(3, 1600)
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self.delay_sim_time(0.5)
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self.hover()
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# make sure we haven't already reached alt:
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m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
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max_initial_alt = 1500
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if abs(m.relative_alt) > max_initial_alt:
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raise NotAchievedException("Took off too fast (%f > %f" %
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(abs(m.relative_alt), max_initial_alt))
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self.progress("Monitoring takeoff-to-alt")
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self.wait_altitude(6.9, 8, relative=True)
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self.progress("Making sure we stop at our takeoff altitude")
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tstart = self.get_sim_time()
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while self.get_sim_time() - tstart < 5:
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m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
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delta = abs(7000 - m.relative_alt)
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self.progress("alt=%f delta=%f" % (m.relative_alt/1000,
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delta/1000))
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if delta > 1000:
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raise NotAchievedException("Failed to maintain takeoff alt")
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self.progress("takeoff OK")
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except Exception as e:
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self.print_exception_caught(e)
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ex = e
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self.land_and_disarm()
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self.set_rc(8, 1000)
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self.context_pop()
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if ex is not None:
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raise ex
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def StabilizeTakeOff(self):
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"""Fly stabilize takeoff"""
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self.context_push()
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ex = None
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try:
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self.change_mode('STABILIZE')
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self.set_rc(3, 1000)
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self.set_rc(8, 1000)
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.set_rc(8, 2000)
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self.progress("wait for rotor runup to complete")
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self.wait_servo_channel_value(8, 1659, timeout=10)
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self.delay_sim_time(20)
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# check we are still on the ground...
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m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
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if abs(m.relative_alt) > 100:
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raise NotAchievedException("Took off prematurely")
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self.progress("Pushing throttle past half-way")
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self.set_rc(3, 1600)
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self.progress("Monitoring takeoff")
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self.wait_altitude(6.9, 8, relative=True)
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self.progress("takeoff OK")
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except Exception as e:
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self.print_exception_caught(e)
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ex = e
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self.land_and_disarm()
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self.set_rc(8, 1000)
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self.context_pop()
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if ex is not None:
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raise ex
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def SplineWaypoint(self, timeout=600):
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"""ensure basic spline functionality works"""
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self.load_mission("copter_spline_mission.txt", strict=False)
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self.change_mode("LOITER")
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.progress("Raising rotor speed")
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self.set_rc(8, 2000)
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self.delay_sim_time(20)
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self.change_mode("AUTO")
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self.set_rc(3, 1500)
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tstart = self.get_sim_time()
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while True:
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if self.get_sim_time() - tstart > timeout:
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raise AutoTestTimeoutException("Vehicle did not disarm after mission")
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if not self.armed():
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break
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self.delay_sim_time(1)
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self.progress("Lowering rotor speed")
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self.set_rc(8, 1000)
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def AutoRotation(self, timeout=600):
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"""Check engine-out behaviour"""
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self.set_parameter("AROT_ENABLE", 1)
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start_alt = 100 # metres
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self.set_parameter("PILOT_TKOFF_ALT", start_alt * 100)
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self.change_mode('POSHOLD')
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self.set_rc(3, 1000)
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self.set_rc(8, 1000)
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.set_rc(8, 2000)
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self.progress("wait for rotor runup to complete")
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self.wait_servo_channel_value(8, 1659, timeout=10)
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self.delay_sim_time(20)
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self.set_rc(3, 2000)
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self.wait_altitude(start_alt - 1,
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(start_alt + 5),
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relative=True,
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timeout=timeout)
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self.context_collect('STATUSTEXT')
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self.progress("Triggering autorotate by raising interlock")
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self.set_rc(8, 1000)
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self.wait_statustext("SS Glide Phase", check_context=True)
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self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s",
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check_context=True,
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regex=True)
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speed = float(self.re_match.group(1))
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if speed > 30:
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raise NotAchievedException("Hit too hard")
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self.wait_disarmed()
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def ManAutoRotation(self, timeout=600):
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"""Check autorotation power recovery behaviour"""
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RAMP_TIME = 4
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AROT_RAMP_TIME = 2
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self.set_parameter("H_RSC_AROT_MN_EN", 1)
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self.set_parameter("H_RSC_AROT_ENG_T", AROT_RAMP_TIME)
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self.set_parameter("H_RSC_AROT_IDLE", 20)
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self.set_parameter("H_RSC_RAMP_TIME", RAMP_TIME)
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self.set_parameter("H_RSC_IDLE", 0)
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start_alt = 100 # metres
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self.set_parameter("PILOT_TKOFF_ALT", start_alt * 100)
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self.change_mode('POSHOLD')
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self.set_rc(3, 1000)
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self.set_rc(8, 1000)
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.set_rc(8, 2000)
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self.progress("wait for rotor runup to complete")
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self.wait_servo_channel_value(8, 1659, timeout=10)
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self.delay_sim_time(20)
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self.set_rc(3, 2000)
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self.wait_altitude(start_alt - 1,
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(start_alt + 5),
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relative=True,
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timeout=timeout)
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self.context_collect('STATUSTEXT')
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self.change_mode('STABILIZE')
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self.progress("Triggering manual autorotation by disabling interlock")
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self.set_rc(3, 1300)
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self.set_rc(8, 1000)
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self.wait_servo_channel_value(8, 1200, timeout=3)
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self.progress("channel 8 set to autorotation window")
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self.set_rc(8, 2000)
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self.wait_servo_channel_value(8, 1659, timeout=AROT_RAMP_TIME * 1.1)
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self.progress("in-flight power recovery")
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self.set_rc(3, 1700)
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self.delay_sim_time(5)
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# initiate autorotation again
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self.set_rc(3, 1200)
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self.set_rc(8, 1000)
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self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s",
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check_context=True,
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regex=True)
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speed = float(self.re_match.group(1))
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if speed > 30:
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raise NotAchievedException("Hit too hard")
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self.set_rc(3, 1000)
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# verify servo 8 resets to RSC_IDLE after land complete
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self.wait_servo_channel_value(8, 1000, timeout=3)
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self.wait_disarmed()
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def mission_item_home(self, target_system, target_component):
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'''returns a mission_item_int which can be used as home in a mission'''
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return self.mav.mav.mission_item_int_encode(
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target_system,
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target_component,
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0, # seq
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mavutil.mavlink.MAV_FRAME_GLOBAL_INT,
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mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
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0, # current
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0, # autocontinue
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3, # p1
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0, # p2
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0, # p3
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0, # p4
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int(1.0000 * 1e7), # latitude
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int(2.0000 * 1e7), # longitude
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31.0000, # altitude
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mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
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def mission_item_takeoff(self, target_system, target_component):
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'''returns a mission_item_int which can be used as takeoff in a mission'''
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return self.mav.mav.mission_item_int_encode(
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target_system,
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target_component,
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1, # seq
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mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
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mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
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0, # current
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0, # autocontinue
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0, # p1
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0, # p2
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0, # p3
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0, # p4
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int(1.0000 * 1e7), # latitude
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int(1.0000 * 1e7), # longitude
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31.0000, # altitude
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mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
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def mission_item_rtl(self, target_system, target_component):
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'''returns a mission_item_int which can be used as takeoff in a mission'''
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return self.mav.mav.mission_item_int_encode(
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target_system,
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target_component,
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1, # seq
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mavutil.mavlink.MAV_FRAME_GLOBAL,
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mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH,
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0, # current
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0, # autocontinue
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0, # p1
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0, # p2
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0, # p3
|
|
0, # p4
|
|
0, # latitude
|
|
0, # longitude
|
|
0.0000, # altitude
|
|
mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
|
|
|
|
def scurve_nasty_mission(self, target_system=1, target_component=1):
|
|
'''returns a mission which attempts to give the SCurve library
|
|
indigestion. The same destination is given several times.'''
|
|
|
|
wp2_loc = self.mav.location()
|
|
wp2_offset_n = 20
|
|
wp2_offset_e = 30
|
|
self.location_offset_ne(wp2_loc, wp2_offset_n, wp2_offset_e)
|
|
|
|
wp2_by_three = self.mav.mav.mission_item_int_encode(
|
|
target_system,
|
|
target_component,
|
|
2, # seq
|
|
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
|
|
mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
|
|
0, # current
|
|
0, # autocontinue
|
|
3, # p1
|
|
0, # p2
|
|
0, # p3
|
|
0, # p4
|
|
int(wp2_loc.lat * 1e7), # latitude
|
|
int(wp2_loc.lng * 1e7), # longitude
|
|
31.0000, # altitude
|
|
mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
|
|
|
|
wp5_loc = self.mav.location()
|
|
wp5_offset_n = -20
|
|
wp5_offset_e = 30
|
|
self.location_offset_ne(wp5_loc, wp5_offset_n, wp5_offset_e)
|
|
|
|
wp5_by_three = self.mav.mav.mission_item_int_encode(
|
|
target_system,
|
|
target_component,
|
|
5, # seq
|
|
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
|
|
mavutil.mavlink.MAV_CMD_NAV_SPLINE_WAYPOINT,
|
|
0, # current
|
|
0, # autocontinue
|
|
3, # p1
|
|
0, # p2
|
|
0, # p3
|
|
0, # p4
|
|
int(wp5_loc.lat * 1e7), # latitude
|
|
int(wp5_loc.lng * 1e7), # longitude
|
|
31.0000, # altitude
|
|
mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
|
|
|
|
ret = copy.copy([
|
|
# slot 0 is home
|
|
self.mission_item_home(target_system=target_system, target_component=target_component),
|
|
# slot 1 is takeoff
|
|
self.mission_item_takeoff(target_system=target_system, target_component=target_component),
|
|
# now three spline waypoints right on top of one another:
|
|
copy.copy(wp2_by_three),
|
|
copy.copy(wp2_by_three),
|
|
copy.copy(wp2_by_three),
|
|
# now three MORE spline waypoints right on top of one another somewhere else:
|
|
copy.copy(wp5_by_three),
|
|
copy.copy(wp5_by_three),
|
|
copy.copy(wp5_by_three),
|
|
self.mission_item_rtl(target_system=target_system, target_component=target_component),
|
|
])
|
|
# renumber the items:
|
|
count = 0
|
|
for item in ret:
|
|
item.seq = count
|
|
count += 1
|
|
return ret
|
|
|
|
def scurve_nasty_up_mission(self, target_system=1, target_component=1):
|
|
'''returns a mission which attempts to give the SCurve library
|
|
indigestion. The same destination is given several times but with differing altitudes.'''
|
|
|
|
wp2_loc = self.mav.location()
|
|
wp2_offset_n = 20
|
|
wp2_offset_e = 30
|
|
self.location_offset_ne(wp2_loc, wp2_offset_n, wp2_offset_e)
|
|
|
|
wp2 = self.mav.mav.mission_item_int_encode(
|
|
target_system,
|
|
target_component,
|
|
2, # seq
|
|
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
|
|
mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
|
|
0, # current
|
|
0, # autocontinue
|
|
3, # p1
|
|
0, # p2
|
|
0, # p3
|
|
0, # p4
|
|
int(wp2_loc.lat * 1e7), # latitude
|
|
int(wp2_loc.lng * 1e7), # longitude
|
|
31.0000, # altitude
|
|
mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
|
|
wp3 = copy.copy(wp2)
|
|
wp3.alt = 40
|
|
wp4 = copy.copy(wp2)
|
|
wp4.alt = 31
|
|
|
|
wp5_loc = self.mav.location()
|
|
wp5_offset_n = -20
|
|
wp5_offset_e = 30
|
|
self.location_offset_ne(wp5_loc, wp5_offset_n, wp5_offset_e)
|
|
|
|
wp5 = self.mav.mav.mission_item_int_encode(
|
|
target_system,
|
|
target_component,
|
|
5, # seq
|
|
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
|
|
mavutil.mavlink.MAV_CMD_NAV_SPLINE_WAYPOINT,
|
|
0, # current
|
|
0, # autocontinue
|
|
3, # p1
|
|
0, # p2
|
|
0, # p3
|
|
0, # p4
|
|
int(wp5_loc.lat * 1e7), # latitude
|
|
int(wp5_loc.lng * 1e7), # longitude
|
|
31.0000, # altitude
|
|
mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
|
|
wp6 = copy.copy(wp5)
|
|
wp6.alt = 41
|
|
wp7 = copy.copy(wp5)
|
|
wp7.alt = 51
|
|
|
|
ret = copy.copy([
|
|
# slot 0 is home
|
|
self.mission_item_home(target_system=target_system, target_component=target_component),
|
|
# slot 1 is takeoff
|
|
self.mission_item_takeoff(target_system=target_system, target_component=target_component),
|
|
wp2,
|
|
wp3,
|
|
wp4,
|
|
# now three MORE spline waypoints right on top of one another somewhere else:
|
|
wp5,
|
|
wp6,
|
|
wp7,
|
|
self.mission_item_rtl(target_system=target_system, target_component=target_component),
|
|
])
|
|
# renumber the items:
|
|
count = 0
|
|
for item in ret:
|
|
item.seq = count
|
|
count += 1
|
|
return ret
|
|
|
|
def fly_mission_points(self, points):
|
|
'''takes a list of waypoints and flies them, expecting a disarm at end'''
|
|
self.check_mission_upload_download(points)
|
|
self.set_parameter("AUTO_OPTIONS", 3)
|
|
self.change_mode('AUTO')
|
|
self.set_rc(8, 1000)
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle()
|
|
self.progress("Raising rotor speed")
|
|
self.set_rc(8, 2000)
|
|
self.wait_waypoint(0, len(points)-1)
|
|
self.wait_disarmed()
|
|
self.set_rc(8, 1000)
|
|
|
|
def NastyMission(self):
|
|
'''constructs and runs missions designed to test scurves'''
|
|
self.fly_mission_points(self.scurve_nasty_mission())
|
|
# hopefully we don't need this step forever:
|
|
self.progress("Restting mission state machine by changing into LOITER")
|
|
self.change_mode('LOITER')
|
|
self.fly_mission_points(self.scurve_nasty_up_mission())
|
|
|
|
def set_rc_default(self):
|
|
super(AutoTestHelicopter, self).set_rc_default()
|
|
self.progress("Lowering rotor speed")
|
|
self.set_rc(8, 1000)
|
|
|
|
def fly_mission(self, filename, strict=True):
|
|
num_wp = self.load_mission(filename, strict=strict)
|
|
self.change_mode("LOITER")
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle()
|
|
self.set_rc(8, 2000) # Raise rotor speed
|
|
self.delay_sim_time(20)
|
|
self.change_mode("AUTO")
|
|
self.set_rc(3, 1500)
|
|
|
|
self.wait_waypoint(1, num_wp-1)
|
|
self.wait_disarmed()
|
|
self.set_rc(8, 1000) # Lower rotor speed
|
|
|
|
# FIXME move this & plane's version to common
|
|
def AirspeedDrivers(self, timeout=600):
|
|
'''Test AirSpeed drivers'''
|
|
|
|
# set the start location to CMAC to use same test script as other vehicles
|
|
self.sitl_start_loc = mavutil.location(-35.362881, 149.165222, 582.000000, 90.0) # CMAC
|
|
self.customise_SITL_commandline(["--home", "%s,%s,%s,%s"
|
|
% (-35.362881, 149.165222, 582.000000, 90.0)])
|
|
|
|
# insert listener to compare airspeeds:
|
|
airspeed = [None, None]
|
|
|
|
def check_airspeeds(mav, m):
|
|
m_type = m.get_type()
|
|
if (m_type == 'NAMED_VALUE_FLOAT' and
|
|
m.name == 'AS2'):
|
|
airspeed[1] = m.value
|
|
elif m_type == 'VFR_HUD':
|
|
airspeed[0] = m.airspeed
|
|
else:
|
|
return
|
|
if airspeed[0] is None or airspeed[1] is None:
|
|
return
|
|
delta = abs(airspeed[0] - airspeed[1])
|
|
if delta > 3:
|
|
raise NotAchievedException("Airspeed mismatch (as1=%f as2=%f)" % (airspeed[0], airspeed[1]))
|
|
|
|
# Copter's airspeed sensors are off by default
|
|
self.set_parameter("ARSPD_ENABLE", 1)
|
|
self.set_parameter("ARSPD_TYPE", 2) # Analog airspeed driver
|
|
self.set_parameter("ARSPD_PIN", 1) # Analog airspeed driver pin for SITL
|
|
self.reboot_sitl()
|
|
|
|
airspeed_sensors = [
|
|
("MS5525", 3, 1),
|
|
("DLVR", 7, 2),
|
|
]
|
|
for (name, t, bus) in airspeed_sensors:
|
|
self.context_push()
|
|
if bus is not None:
|
|
self.set_parameter("ARSPD2_BUS", bus)
|
|
self.set_parameter("ARSPD2_TYPE", t)
|
|
self.reboot_sitl()
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle()
|
|
|
|
self.install_message_hook_context(check_airspeeds)
|
|
self.fly_mission("ap1.txt", strict=False)
|
|
|
|
if airspeed[0] is None:
|
|
raise NotAchievedException("Never saw an airspeed1")
|
|
if airspeed[1] is None:
|
|
raise NotAchievedException("Never saw an airspeed2")
|
|
self.context_pop()
|
|
if not self.current_onboard_log_contains_message("ARSP"):
|
|
raise NotAchievedException("Expected ARSP log message")
|
|
|
|
self.reboot_sitl()
|
|
|
|
def TurbineStart(self, timeout=200):
|
|
"""Check Turbine Start Feature"""
|
|
RAMP_TIME = 4
|
|
# set option for Turbine Start
|
|
self.set_parameter("RC6_OPTION", 161)
|
|
self.set_parameter("H_RSC_RAMP_TIME", RAMP_TIME)
|
|
self.set_parameter("H_RSC_SETPOINT", 66)
|
|
self.set_parameter("DISARM_DELAY", 0)
|
|
self.set_rc(3, 1000)
|
|
self.set_rc(8, 1000)
|
|
|
|
# check that turbine start doesn't activate while disarmed
|
|
self.progress("Checking Turbine Start doesn't activate while disarmed")
|
|
self.set_rc(6, 2000)
|
|
tstart = self.get_sim_time()
|
|
while self.get_sim_time() - tstart < 2:
|
|
servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
|
|
if servo.servo8_raw > 1050:
|
|
raise NotAchievedException("Turbine Start activated while disarmed")
|
|
self.set_rc(6, 1000)
|
|
|
|
# check that turbine start doesn't activate armed with interlock enabled
|
|
self.progress("Checking Turbine Start doesn't activate while armed with interlock enabled")
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle()
|
|
self.set_rc(8, 2000)
|
|
self.set_rc(6, 2000)
|
|
tstart = self.get_sim_time()
|
|
while self.get_sim_time() - tstart < 5:
|
|
servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
|
|
if servo.servo8_raw > 1660:
|
|
raise NotAchievedException("Turbine Start activated with interlock enabled")
|
|
|
|
self.set_rc(8, 1000)
|
|
self.set_rc(6, 1000)
|
|
self.disarm_vehicle()
|
|
|
|
# check that turbine start activates as designed (armed with interlock disabled)
|
|
self.progress("Checking Turbine Start activates as designed (armed with interlock disabled)")
|
|
self.delay_sim_time(2)
|
|
self.arm_vehicle()
|
|
|
|
self.set_rc(6, 2000)
|
|
tstart = self.get_sim_time()
|
|
while True:
|
|
if self.get_sim_time() - tstart > 5:
|
|
raise AutoTestTimeoutException("Turbine Start did not activate")
|
|
servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
|
|
if servo.servo8_raw > 1800:
|
|
break
|
|
|
|
self.wait_servo_channel_value(8, 1000, timeout=3)
|
|
self.set_rc(6, 1000)
|
|
|
|
# check that turbine start will not reactivate after interlock enabled
|
|
self.progress("Checking Turbine Start doesn't activate once interlock is enabled after start)")
|
|
self.set_rc(8, 2000)
|
|
self.set_rc(6, 2000)
|
|
tstart = self.get_sim_time()
|
|
while self.get_sim_time() - tstart < 5:
|
|
servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
|
|
if servo.servo8_raw > 1660:
|
|
raise NotAchievedException("Turbine Start activated with interlock enabled")
|
|
self.set_rc(6, 1000)
|
|
self.set_rc(8, 1000)
|
|
self.disarm_vehicle()
|
|
|
|
def tests(self):
|
|
'''return list of all tests'''
|
|
ret = AutoTest.tests(self)
|
|
ret.extend([
|
|
self.AVCMission,
|
|
self.RotorRunup,
|
|
self.PosHoldTakeOff,
|
|
self.StabilizeTakeOff,
|
|
self.SplineWaypoint,
|
|
self.AutoRotation,
|
|
self.ManAutoRotation,
|
|
self.governortest,
|
|
self.FlyEachFrame,
|
|
self.AirspeedDrivers,
|
|
self.TurbineStart,
|
|
self.NastyMission,
|
|
])
|
|
return ret
|
|
|
|
def disabled_tests(self):
|
|
return {
|
|
}
|