mirror of https://github.com/ArduPilot/ardupilot
669 lines
22 KiB
Python
669 lines
22 KiB
Python
#!/usr/bin/env python
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# Fly ArduPlane in SITL
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from __future__ import print_function
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import math
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import os
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import pexpect
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from pymavlink import mavutil
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from pysim import util
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from common import AutoTest
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from common import NotAchievedException
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from common import PreconditionFailedException
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# get location of scripts
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testdir = os.path.dirname(os.path.realpath(__file__))
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HOME = mavutil.location(-35.362938, 149.165085, 585, 354)
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WIND = "0,180,0.2" # speed,direction,variance
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class AutoTestPlane(AutoTest):
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def __init__(self,
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binary,
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valgrind=False,
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gdb=False,
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speedup=10,
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frame=None,
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params=None,
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gdbserver=False,
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breakpoints=[],
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**kwargs):
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super(AutoTestPlane, self).__init__(**kwargs)
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self.binary = binary
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self.valgrind = valgrind
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self.gdb = gdb
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self.frame = frame
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self.params = params
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self.gdbserver = gdbserver
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self.breakpoints = breakpoints
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self.home = "%f,%f,%u,%u" % (HOME.lat,
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HOME.lng,
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HOME.alt,
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HOME.heading)
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self.homeloc = None
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self.speedup = speedup
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self.sitl = None
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self.hasInit = False
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self.log_name = "ArduPlane"
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def init(self):
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if self.frame is None:
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self.frame = 'plane-elevrev'
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defaults_file = os.path.join(testdir,
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'default_params/plane-jsbsim.parm')
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self.sitl = util.start_SITL(self.binary,
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wipe=True,
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model=self.frame,
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home=self.home,
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speedup=self.speedup,
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defaults_file=defaults_file,
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valgrind=self.valgrind,
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gdb=self.gdb,
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gdbserver=self.gdbserver,
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breakpoints=self.breakpoints)
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self.mavproxy = util.start_MAVProxy_SITL(
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'ArduPlane', options=self.mavproxy_options())
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self.mavproxy.expect('Telemetry log: (\S+)\r\n')
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self.logfile = self.mavproxy.match.group(1)
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self.progress("LOGFILE %s" % self.logfile)
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self.try_symlink_tlog()
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self.mavproxy.expect('Received [0-9]+ parameters')
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util.expect_setup_callback(self.mavproxy, self.expect_callback)
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self.expect_list_clear()
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self.expect_list_extend([self.sitl, self.mavproxy])
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self.progress("Started simulator")
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self.get_mavlink_connection_going()
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self.hasInit = True
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self.progress("Ready to start testing!")
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def takeoff(self):
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"""Takeoff get to 30m altitude."""
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self.mavproxy.send('switch 4\n')
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self.wait_mode('FBWA')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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# some rudder to counteract the prop torque
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self.set_rc(4, 1700)
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# some up elevator to keep the tail down
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self.set_rc(2, 1200)
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# get it moving a bit first
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self.set_rc(3, 1300)
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self.mav.recv_match(condition='VFR_HUD.groundspeed>6', blocking=True)
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# a bit faster again, straighten rudder
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self.set_rc(3, 1600)
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self.set_rc(4, 1500)
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self.mav.recv_match(condition='VFR_HUD.groundspeed>12', blocking=True)
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# hit the gas harder now, and give it some more elevator
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self.set_rc(2, 1100)
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self.set_rc(3, 2000)
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# gain a bit of altitude
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self.wait_altitude(self.homeloc.alt+150,
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self.homeloc.alt+180,
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timeout=30)
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# level off
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self.set_rc(2, 1500)
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self.progress("TAKEOFF COMPLETE")
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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.wait_mode('FBWA')
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self.set_rc(3, 2000)
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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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def fly_RTL(self):
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"""Fly to home."""
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self.progress("Flying home in RTL")
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self.mavproxy.send('switch 2\n')
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self.wait_mode('RTL')
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self.wait_location(self.homeloc,
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accuracy=120,
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target_altitude=self.homeloc.alt+100,
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height_accuracy=20,
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timeout=180)
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self.progress("RTL Complete")
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def fly_LOITER(self, num_circles=4):
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"""Loiter where we are."""
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self.progress("Testing LOITER for %u turns" % num_circles)
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self.mavproxy.send('loiter\n')
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self.wait_mode('LOITER')
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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initial_alt = m.alt
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self.progress("Initial altitude %u\n" % initial_alt)
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while num_circles > 0:
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self.wait_heading(0, accuracy=10, timeout=60)
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self.wait_heading(180, accuracy=10, timeout=60)
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num_circles -= 1
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self.progress("Loiter %u circles left" % num_circles)
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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final_alt = m.alt
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self.progress("Final altitude %u initial %u\n" %
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(final_alt, initial_alt))
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self.mavproxy.send('mode FBWA\n')
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self.wait_mode('FBWA')
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if abs(final_alt - initial_alt) > 20:
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self.progress("Failed to maintain altitude")
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raise NotAchievedException()
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self.progress("Completed Loiter OK")
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def fly_CIRCLE(self, num_circles=1):
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"""Circle where we are."""
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self.progress("Testing CIRCLE for %u turns" % num_circles)
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self.mavproxy.send('mode CIRCLE\n')
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self.wait_mode('CIRCLE')
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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initial_alt = m.alt
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self.progress("Initial altitude %u\n" % initial_alt)
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while num_circles > 0:
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self.wait_heading(0, accuracy=10, timeout=60)
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self.wait_heading(180, accuracy=10, timeout=60)
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num_circles -= 1
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self.progress("CIRCLE %u circles left" % num_circles)
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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final_alt = m.alt
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self.progress("Final altitude %u initial %u\n" %
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(final_alt, initial_alt))
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self.mavproxy.send('mode FBWA\n')
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self.wait_mode('FBWA')
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if abs(final_alt - initial_alt) > 20:
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self.progress("Failed to maintain altitude")
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raise NotAchievedException()
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self.progress("Completed CIRCLE OK")
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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() < 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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self.progress("Failed to attain level flight")
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raise NotAchievedException()
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def change_altitude(self, altitude, accuracy=30):
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"""Get to a given altitude."""
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self.mavproxy.send('mode FBWA\n')
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self.wait_mode('FBWA')
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alt_error = self.mav.messages['VFR_HUD'].alt - altitude
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if alt_error > 0:
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self.set_rc(2, 2000)
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else:
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self.set_rc(2, 1000)
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self.wait_altitude(altitude-accuracy/2, altitude+accuracy/2)
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self.set_rc(2, 1500)
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self.progress("Reached target altitude at %u" %
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self.mav.messages['VFR_HUD'].alt)
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return self.wait_level_flight()
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def axial_left_roll(self, count=1):
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"""Fly a left axial roll."""
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# full throttle!
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self.set_rc(3, 2000)
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self.change_altitude(self.homeloc.alt+300)
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# fly the roll in manual
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self.mavproxy.send('switch 6\n')
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self.wait_mode('MANUAL')
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while count > 0:
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self.progress("Starting roll")
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self.set_rc(1, 1000)
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try:
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self.wait_roll(-150, accuracy=90)
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self.wait_roll(150, accuracy=90)
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self.wait_roll(0, accuracy=90)
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except Exception as e:
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self.set_rc(1, 1500)
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raise e
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count -= 1
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# back to FBWA
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self.set_rc(1, 1500)
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self.mavproxy.send('switch 4\n')
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self.wait_mode('FBWA')
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self.set_rc(3, 1700)
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return self.wait_level_flight()
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def inside_loop(self, count=1):
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"""Fly a inside loop."""
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# full throttle!
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self.set_rc(3, 2000)
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self.change_altitude(self.homeloc.alt+300)
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# fly the loop in manual
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self.mavproxy.send('switch 6\n')
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self.wait_mode('MANUAL')
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while count > 0:
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self.progress("Starting loop")
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self.set_rc(2, 1000)
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self.wait_pitch(-60, accuracy=20)
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self.wait_pitch(0, accuracy=20)
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count -= 1
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# back to FBWA
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self.set_rc(2, 1500)
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self.mavproxy.send('switch 4\n')
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self.wait_mode('FBWA')
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self.set_rc(3, 1700)
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return self.wait_level_flight()
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def test_stabilize(self, count=1):
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"""Fly stabilize mode."""
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# full throttle!
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self.set_rc(3, 2000)
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self.set_rc(2, 1300)
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self.change_altitude(self.homeloc.alt+300)
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self.set_rc(2, 1500)
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self.mavproxy.send("mode STABILIZE\n")
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self.wait_mode('STABILIZE')
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while count > 0:
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self.progress("Starting roll")
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self.set_rc(1, 2000)
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self.wait_roll(-150, accuracy=90)
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self.wait_roll(150, accuracy=90)
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self.wait_roll(0, accuracy=90)
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count -= 1
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self.set_rc(1, 1500)
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self.wait_roll(0, accuracy=5)
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# back to FBWA
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self.mavproxy.send('mode FBWA\n')
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self.wait_mode('FBWA')
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self.set_rc(3, 1700)
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return self.wait_level_flight()
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def test_acro(self, count=1):
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"""Fly ACRO mode."""
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# full throttle!
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self.set_rc(3, 2000)
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self.set_rc(2, 1300)
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self.change_altitude(self.homeloc.alt+300)
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self.set_rc(2, 1500)
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self.mavproxy.send("mode ACRO\n")
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self.wait_mode('ACRO')
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while count > 0:
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self.progress("Starting roll")
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self.set_rc(1, 1000)
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self.wait_roll(-150, accuracy=90)
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self.wait_roll(150, accuracy=90)
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self.wait_roll(0, accuracy=90)
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count -= 1
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self.set_rc(1, 1500)
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# back to FBWA
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self.mavproxy.send('mode FBWA\n')
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self.wait_mode('FBWA')
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self.wait_level_flight()
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self.mavproxy.send("mode ACRO\n")
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self.wait_mode('ACRO')
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count = 2
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while count > 0:
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self.progress("Starting loop")
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self.set_rc(2, 1000)
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self.wait_pitch(-60, accuracy=20)
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self.wait_pitch(0, accuracy=20)
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count -= 1
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self.set_rc(2, 1500)
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# back to FBWA
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self.mavproxy.send('mode FBWA\n')
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self.wait_mode('FBWA')
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self.set_rc(3, 1700)
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return self.wait_level_flight()
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def test_FBWB(self, mode='FBWB'):
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"""Fly FBWB or CRUISE mode."""
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self.mavproxy.send("mode %s\n" % mode)
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self.wait_mode(mode)
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self.set_rc(3, 1700)
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self.set_rc(2, 1500)
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# lock in the altitude by asking for an altitude change then releasing
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self.set_rc(2, 1000)
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self.wait_distance(50, accuracy=20)
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self.set_rc(2, 1500)
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self.wait_distance(50, accuracy=20)
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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initial_alt = m.alt
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self.progress("Initial altitude %u\n" % initial_alt)
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self.progress("Flying right 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, 1800)
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try:
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self.wait_heading(0 + (90*i), accuracy=20, timeout=60)
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except Exception as e:
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self.set_rc(1, 1500)
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raise e
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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.progress("Flying rudder 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(4, 1900)
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try:
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self.wait_heading(360 - (90*i), accuracy=20, timeout=60)
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except Exception as e:
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self.set_rc(4, 1500)
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raise e
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self.set_rc(4, 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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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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final_alt = m.alt
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self.progress("Final altitude %u initial %u\n" %
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(final_alt, initial_alt))
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# back to FBWA
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self.mavproxy.send('mode FBWA\n')
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self.wait_mode('FBWA')
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if abs(final_alt - initial_alt) > 20:
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self.progress("Failed to maintain altitude")
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raise NotAchievedException()
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return self.wait_level_flight()
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def wp_load(self, filename):
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self.mavproxy.send('wp load %s\n' % filename)
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self.mavproxy.expect('Flight plan received')
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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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def fly_mission(self, filename):
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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.wp_load(filename)
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self.mavproxy.send('switch 1\n') # auto mode
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self.wait_mode('AUTO')
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self.wait_waypoint(1, 7, max_dist=60)
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self.wait_groundspeed(0, 0.5, timeout=60)
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self.mavproxy.expect("Auto disarmed")
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self.progress("Mission OK")
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def fly_flaps(self):
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"""Test flaps functionality."""
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filename = os.path.join(testdir, "flaps.txt")
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self.context_push()
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ex = None
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try:
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flaps_ch = 5
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servo_ch = 5
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self.set_parameter("SERVO%u_FUNCTION" % servo_ch, 3) # flapsauto
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self.set_parameter("FLAP_IN_CHANNEL", flaps_ch)
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self.set_parameter("LAND_FLAP_PERCNT", 50)
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self.set_parameter("LOG_DISARMED", 1)
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flaps_ch_min = 1000
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flaps_ch_trim = 1500
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flaps_ch_max = 2000
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self.set_parameter("RC%u_MIN" % flaps_ch, flaps_ch_min)
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self.set_parameter("RC%u_MAX" % flaps_ch, flaps_ch_max)
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self.set_parameter("RC%u_TRIM" % flaps_ch, flaps_ch_trim)
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servo_ch_min = 1200
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servo_ch_trim = 1300
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servo_ch_max = 1800
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self.set_parameter("SERVO%u_MIN" % servo_ch, servo_ch_min)
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self.set_parameter("SERVO%u_MAX" % servo_ch, servo_ch_max)
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self.set_parameter("SERVO%u_TRIM" % servo_ch, servo_ch_trim)
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# check flaps are not deployed:
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self.set_rc(flaps_ch, flaps_ch_min)
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self.wait_servo_channel_value(servo_ch, servo_ch_min)
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# deploy the flaps:
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self.set_rc(flaps_ch, flaps_ch_max)
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tstart = self.get_sim_time()
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self.wait_servo_channel_value(servo_ch, servo_ch_max)
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tstop = self.get_sim_time_cached()
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delta_time = tstop - tstart
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delta_time_min = 0.5
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delta_time_max = 1.5
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if delta_time < delta_time_min or delta_time > delta_time_max:
|
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self.progress("Flaps Slew not working (%f seconds)" %
|
|
(delta_time,))
|
|
raise NotAchievedException()
|
|
# undeploy flaps:
|
|
self.set_rc(flaps_ch, flaps_ch_min)
|
|
self.wait_servo_channel_value(servo_ch, servo_ch_min)
|
|
|
|
self.progress("Flying mission %s" % filename)
|
|
self.wp_load(filename)
|
|
self.mavproxy.send('wp set 1\n')
|
|
self.mavproxy.send('switch 1\n') # auto mode
|
|
self.wait_mode('AUTO')
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle()
|
|
tstart = self.get_sim_time_cached()
|
|
last_mission_current_msg = 0
|
|
last_seq = None
|
|
while self.armed():
|
|
m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
|
|
time_delta = (self.get_sim_time_cached() -
|
|
last_mission_current_msg)
|
|
if (time_delta >1 or
|
|
m.seq != last_seq):
|
|
dist = None
|
|
x = self.mav.messages.get("NAV_CONTROLLER_OUTPUT", None)
|
|
if x is not None:
|
|
dist = x.wp_dist
|
|
self.progress("MISSION_CURRENT.seq=%u (dist=%s)" %
|
|
(m.seq,str(dist)))
|
|
last_mission_current_msg = self.get_sim_time_cached()
|
|
last_seq = m.seq
|
|
# flaps should undeploy at the end
|
|
self.wait_servo_channel_value(servo_ch, servo_ch_min, timeout=30)
|
|
|
|
# do a short flight in FBWA, watching for flaps
|
|
# self.mavproxy.send('switch 4\n')
|
|
# self.wait_mode('FBWA')
|
|
# self.wait_seconds(10)
|
|
# self.mavproxy.send('switch 6\n')
|
|
# self.wait_mode('MANUAL')
|
|
# self.wait_seconds(10)
|
|
|
|
self.progress("Flaps OK")
|
|
except Exception as e:
|
|
ex = e
|
|
self.context_pop()
|
|
if ex:
|
|
if self.armed():
|
|
self.disarm_vehicle()
|
|
raise ex
|
|
|
|
def test_rc_relay(self):
|
|
'''test toggling channel 12 toggles relay'''
|
|
off = self.get_parameter("SIM_PIN_MASK")
|
|
if off:
|
|
raise PreconditionFailedException()
|
|
self.set_rc(12, 2000)
|
|
self.mav.wait_heartbeat()
|
|
self.mav.wait_heartbeat()
|
|
on = self.get_parameter("SIM_PIN_MASK")
|
|
if not on:
|
|
raise NotAchievedException()
|
|
self.set_rc(12, 1000)
|
|
self.mav.wait_heartbeat()
|
|
self.mav.wait_heartbeat()
|
|
off = self.get_parameter("SIM_PIN_MASK")
|
|
if off:
|
|
raise NotAchievedException()
|
|
|
|
def test_rc_option_camera_trigger(self):
|
|
'''test toggling channel 12 takes picture'''
|
|
x = self.mav.messages.get("CAMERA_FEEDBACK", None)
|
|
if x is not None:
|
|
raise PreconditionFailedException()
|
|
self.set_rc(12, 2000)
|
|
tstart = self.get_sim_time()
|
|
while self.get_sim_time() - tstart < 10:
|
|
x = self.mav.messages.get("CAMERA_FEEDBACK", None)
|
|
if x is not None:
|
|
break
|
|
self.mav.wait_heartbeat()
|
|
self.set_rc(12, 1000)
|
|
if x is None:
|
|
raise NotAchievedException()
|
|
|
|
def autotest(self):
|
|
"""Autotest ArduPlane in SITL."""
|
|
self.check_test_syntax(test_file=os.path.realpath(__file__))
|
|
if not self.hasInit:
|
|
self.init()
|
|
|
|
self.fail_list = []
|
|
try:
|
|
self.progress("Waiting for a heartbeat with mavlink protocol %s"
|
|
% self.mav.WIRE_PROTOCOL_VERSION)
|
|
self.mav.wait_heartbeat()
|
|
self.progress("Setting up RC parameters")
|
|
self.set_rc_default()
|
|
self.set_rc(3, 1000)
|
|
self.set_rc(8, 1800)
|
|
|
|
self.set_parameter("RC12_OPTION", 9)
|
|
self.reboot_sitl() # needed for RC12_OPTION to take effect
|
|
|
|
self.run_test("Test RC Option - Camera Trigger",
|
|
self.test_rc_option_camera_trigger)
|
|
|
|
self.set_parameter("RC12_OPTION", 28)
|
|
self.reboot_sitl() # needed for RC12_OPTION to take effect
|
|
|
|
self.run_test("Test Relay RC Channel Option",
|
|
self.test_rc_relay)
|
|
|
|
self.progress("Waiting for GPS fix")
|
|
self.mav.recv_match(condition='VFR_HUD.alt>10', blocking=True)
|
|
self.mav.wait_gps_fix()
|
|
while self.mav.location().alt < 10:
|
|
self.mav.wait_gps_fix()
|
|
self.homeloc = self.mav.location()
|
|
self.progress("Home location: %s" % self.homeloc)
|
|
self.wait_ready_to_arm()
|
|
self.run_test("Arm features", self.test_arm_feature)
|
|
|
|
self.run_test("Flaps", self.fly_flaps)
|
|
|
|
self.mavproxy.send('switch 6\n')
|
|
self.wait_mode('MANUAL')
|
|
|
|
self.run_test("Takeoff", self.takeoff)
|
|
|
|
self.run_test("Fly left circuit", self.fly_left_circuit)
|
|
|
|
self.run_test("Left roll", lambda: self.axial_left_roll(1))
|
|
|
|
self.run_test("Inside loop", self.inside_loop)
|
|
|
|
self.run_test("Stablize test", self.test_stabilize)
|
|
|
|
self.run_test("ACRO test", self.test_acro)
|
|
|
|
self.run_test("FBWB test", self.test_FBWB)
|
|
|
|
self.run_test("CRUISE test", lambda: self.test_FBWB(mode='CRUISE'))
|
|
|
|
self.run_test("RTL test", self.fly_RTL)
|
|
|
|
self.run_test("LOITER test", self.fly_LOITER)
|
|
|
|
self.run_test("CIRCLE test", self.fly_CIRCLE)
|
|
|
|
self.run_test("Mission test",
|
|
lambda: self.fly_mission(
|
|
os.path.join(testdir, "ap1.txt")))
|
|
|
|
self.run_test("Log download",
|
|
lambda: self.log_download(
|
|
self.buildlogs_path("ArduPlane-log.bin")))
|
|
|
|
except pexpect.TIMEOUT:
|
|
self.progress("Failed with timeout")
|
|
self.fail_list.append("timeout")
|
|
|
|
self.close()
|
|
|
|
if len(self.fail_list):
|
|
self.progress("FAILED: %s" % self.fail_list)
|
|
return False
|
|
|
|
self.progress("Max set_rc_timeout=%s" % self.max_set_rc_timeout);
|
|
|
|
return True
|