mirror of https://github.com/ArduPilot/ardupilot
339 lines
10 KiB
Python
339 lines
10 KiB
Python
# fly ArduPlane in SIL
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import util, pexpect, sys, time, math, shutil, os
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from common import *
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import mavutil, random
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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_LOCATION='-35.362938,149.165085,585,354'
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WIND="0,180,0.2" # speed,direction,variance
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homeloc = None
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def takeoff(mavproxy, mav):
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'''takeoff get to 30m altitude'''
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mavproxy.send('switch 4\n')
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wait_mode(mav, 'FBWA')
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# some rudder to counteract the prop torque
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mavproxy.send('rc 4 1700\n')
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# some up elevator to keep the tail down
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mavproxy.send('rc 2 1200\n')
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# get it moving a bit first
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mavproxy.send('rc 3 1300\n')
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mav.recv_match(condition='VFR_HUD.groundspeed>6', blocking=True)
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# a bit faster again, straighten rudder
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mavproxy.send('rc 3 1600\n')
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mavproxy.send('rc 4 1500\n')
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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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mavproxy.send('rc 2 1100\n')
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mavproxy.send('rc 3 1800\n')
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# gain a bit of altitude
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if not wait_altitude(mav, homeloc.alt+30, homeloc.alt+60, timeout=30):
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return False
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# level off
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mavproxy.send('rc 2 1500\n')
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print("TAKEOFF COMPLETE")
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return True
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def fly_left_circuit(mavproxy, mav):
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'''fly a left circuit, 200m on a side'''
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mavproxy.send('switch 4\n')
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wait_mode(mav, 'FBWA')
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mavproxy.send('rc 3 2000\n')
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if not wait_level_flight(mavproxy, mav):
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return False
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print("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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print("Starting turn %u" % i)
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mavproxy.send('rc 1 1000\n')
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if not wait_heading(mav, 270 - (90*i), accuracy=10):
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return False
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mavproxy.send('rc 1 1500\n')
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print("Starting leg %u" % i)
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if not wait_distance(mav, 100, accuracy=20):
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return False
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print("Circuit complete")
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return True
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def fly_RTL(mavproxy, mav):
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'''fly to home'''
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print("Flying home in RTL")
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mavproxy.send('switch 2\n')
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wait_mode(mav, 'RTL')
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if not wait_location(mav, homeloc, accuracy=120,
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target_altitude=homeloc.alt+100, height_accuracy=20,
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timeout=90):
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return False
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print("RTL Complete")
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return True
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def fly_LOITER(mavproxy, mav, num_circles=4):
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'''loiter where we are'''
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print("Testing LOITER for %u turns" % num_circles)
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mavproxy.send('switch 3\n')
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mavproxy.send('loiter\n')
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wait_mode(mav, 'LOITER')
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while num_circles > 0:
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if not wait_heading(mav, 0, accuracy=10, timeout=60):
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return False
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if not wait_heading(mav, 180, accuracy=10, timeout=60):
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return False
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num_circles -= 1
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print("Loiter %u circles left" % num_circles)
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print("Completed Loiter OK")
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return True
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def wait_level_flight(mavproxy, mav, accuracy=5, timeout=30):
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'''wait for level flight'''
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tstart = time.time()
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print("Waiting for level flight")
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while time.time() < tstart + timeout:
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m = 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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print("Roll=%.1f Pitch=%.1f" % (roll, pitch))
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if math.fabs(roll) <= accuracy and math.fabs(pitch) <= accuracy:
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print("Attained level flight")
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return True
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print("Failed to attain level flight")
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return False
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def change_altitude(mavproxy, mav, altitude, accuracy=10):
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'''get to a given altitude'''
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mavproxy.send('switch 4\n')
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wait_mode(mav, 'FBWA')
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alt_error = mav.messages['VFR_HUD'].alt - altitude
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if alt_error > 0:
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mavproxy.send('rc 2 2000\n')
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else:
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mavproxy.send('rc 2 1000\n')
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if not wait_altitude(mav, altitude-accuracy/2, altitude+accuracy/2):
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return False
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mavproxy.send('rc 2 1500\n')
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print("Reached target altitude at %u" % mav.messages['VFR_HUD'].alt)
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return wait_level_flight(mavproxy, mav)
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def axial_left_roll(mavproxy, mav, count=1):
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'''fly a left axial roll'''
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# full throttle!
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mavproxy.send('rc 3 2000\n')
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if not change_altitude(mavproxy, mav, homeloc.alt+200):
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return False
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# fly the roll in manual
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mavproxy.send('switch 6\n')
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wait_mode(mav, 'MANUAL')
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while count > 0:
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print("Starting roll")
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mavproxy.send('rc 1 1000\n')
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if not wait_roll(mav, -150, accuracy=20):
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return False
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if not wait_roll(mav, 150, accuracy=20):
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return False
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if not wait_roll(mav, 0, accuracy=20):
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return False
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count -= 1
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# back to FBWA
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mavproxy.send('rc 1 1500\n')
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mavproxy.send('switch 4\n')
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wait_mode(mav, 'FBWA')
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mavproxy.send('rc 3 1700\n')
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return wait_level_flight(mavproxy, mav)
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def inside_loop(mavproxy, mav, count=1):
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'''fly a inside loop'''
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# full throttle!
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mavproxy.send('rc 3 2000\n')
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if not change_altitude(mavproxy, mav, homeloc.alt+200):
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return False
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# fly the loop in manual
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mavproxy.send('switch 6\n')
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wait_mode(mav, 'MANUAL')
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while count > 0:
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print("Starting loop")
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mavproxy.send('rc 2 1000\n')
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if not wait_pitch(mav, -60, accuracy=20):
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return False
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if not wait_pitch(mav, 0, accuracy=20):
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return False
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count -= 1
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# back to FBWA
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mavproxy.send('rc 2 1500\n')
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mavproxy.send('switch 4\n')
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wait_mode(mav, 'FBWA')
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mavproxy.send('rc 3 1700\n')
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return wait_level_flight(mavproxy, mav)
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def setup_rc(mavproxy):
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'''setup RC override control'''
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for chan in [1,2,4,5,6,7]:
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mavproxy.send('rc %u 1500\n' % chan)
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mavproxy.send('rc 3 1000\n')
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mavproxy.send('rc 8 1800\n')
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def fly_mission(mavproxy, mav, filename, height_accuracy=-1, target_altitude=None):
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'''fly a mission from a file'''
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global homeloc
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print("Flying mission %s" % filename)
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mavproxy.send('wp load %s\n' % filename)
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mavproxy.expect('flight plan received')
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mavproxy.send('wp list\n')
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mavproxy.expect('Requesting [0-9]+ waypoints')
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mavproxy.send('switch 1\n') # auto mode
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wait_mode(mav, 'AUTO')
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if not wait_waypoint(mav, 1, 7, max_dist=60):
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return False
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if not wait_groundspeed(mav, 0, 0.5, timeout=60):
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return False
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print("Mission OK")
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return True
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def fly_ArduPlane(viewerip=None, map=False):
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'''fly ArduPlane in SIL
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you can pass viewerip as an IP address to optionally send fg and
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mavproxy packets too for local viewing of the flight in real time
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'''
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global homeloc
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options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
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if viewerip:
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options += " --out=%s:14550" % viewerip
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if map:
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options += ' --map --console'
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sil = util.start_SIL('ArduPlane', wipe=True)
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mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
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mavproxy.expect('Received [0-9]+ parameters')
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# setup test parameters
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mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
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mavproxy.send("param load %s/ArduPlane.parm\n" % testdir)
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mavproxy.expect('Loaded [0-9]+ parameters')
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# restart with new parms
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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cmd = util.reltopdir("Tools/autotest/jsbsim/runsim.py")
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cmd += " --home=%s --wind=%s" % (HOME_LOCATION, WIND)
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if viewerip:
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cmd += " --fgout=%s:5503" % viewerip
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runsim = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
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runsim.delaybeforesend = 0
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util.pexpect_autoclose(runsim)
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runsim.expect('Simulator ready to fly')
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sil = util.start_SIL('ArduPlane')
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mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
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mavproxy.expect('Logging to (\S+)')
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logfile = mavproxy.match.group(1)
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print("LOGFILE %s" % logfile)
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buildlog = util.reltopdir("../buildlogs/ArduPlane-test.tlog")
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print("buildlog=%s" % buildlog)
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if os.path.exists(buildlog):
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os.unlink(buildlog)
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os.link(logfile, buildlog)
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mavproxy.expect('Received [0-9]+ parameters')
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util.expect_setup_callback(mavproxy, expect_callback)
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expect_list_clear()
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expect_list_extend([runsim, sil, mavproxy])
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print("Started simulator")
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# get a mavlink connection going
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try:
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mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
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except Exception, msg:
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print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
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raise
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mav.message_hooks.append(message_hook)
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mav.idle_hooks.append(idle_hook)
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failed = False
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e = 'None'
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try:
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print("Waiting for a heartbeat with mavlink protocol %s" % mav.WIRE_PROTOCOL_VERSION)
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mav.wait_heartbeat()
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print("Setting up RC parameters")
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setup_rc(mavproxy)
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print("Waiting for GPS fix")
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mav.recv_match(condition='VFR_HUD.alt>10', blocking=True)
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mav.wait_gps_fix()
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while mav.location().alt < 10:
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mav.wait_gps_fix()
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homeloc = mav.location()
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print("Home location: %s" % homeloc)
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if not takeoff(mavproxy, mav):
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print("Failed takeoff")
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failed = True
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if not fly_left_circuit(mavproxy, mav):
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print("Failed left circuit")
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failed = True
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if not axial_left_roll(mavproxy, mav, 1):
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print("Failed left roll")
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failed = True
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if not inside_loop(mavproxy, mav):
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print("Failed inside loop")
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failed = True
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if not fly_RTL(mavproxy, mav):
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print("Failed RTL")
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failed = True
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if not fly_LOITER(mavproxy, mav):
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print("Failed LOITER")
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failed = True
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if not fly_mission(mavproxy, mav, os.path.join(testdir, "ap1.txt"), height_accuracy = 10,
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target_altitude=homeloc.alt+100):
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print("Failed mission")
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failed = True
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except pexpect.TIMEOUT, e:
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print("Failed with timeout")
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failed = True
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mav.close()
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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util.pexpect_close(runsim)
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if os.path.exists('ArduPlane-valgrind.log'):
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os.chmod('ArduPlane-valgrind.log', 0644)
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shutil.copy("ArduPlane-valgrind.log", util.reltopdir("../buildlogs/ArduPlane-valgrind.log"))
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if failed:
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print("FAILED: %s" % e)
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return False
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return True
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