ardupilot/Tools/autotest/quadplane.py

153 lines
5.2 KiB
Python

#!/usr/bin/env python
# Fly ArduPlane QuadPlane in SITL
from __future__ import print_function
import os
import pexpect
from pymavlink import mavutil
from common import AutoTest
from pysim import util
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
HOME = mavutil.location(-27.274439, 151.290064, 343, 8.7)
MISSION = 'ArduPlane-Missions/Dalby-OBC2016.txt'
FENCE = 'ArduPlane-Missions/Dalby-OBC2016-fence.txt'
WIND = "0,180,0.2" # speed,direction,variance
class AutoTestQuadPlane(AutoTest):
def __init__(self,
binary,
valgrind=False,
gdb=False,
speedup=10,
frame=None,
params=None,
gdbserver=False,
breakpoints=[],
**kwargs):
super(AutoTestQuadPlane, self).__init__(**kwargs)
self.binary = binary
self.valgrind = valgrind
self.gdb = gdb
self.frame = frame
self.params = params
self.gdbserver = gdbserver
self.breakpoints = breakpoints
self.home = "%f,%f,%u,%u" % (HOME.lat,
HOME.lng,
HOME.alt,
HOME.heading)
self.homeloc = None
self.speedup = speedup
self.log_name = "QuadPlane"
self.logfile = None
self.sitl = None
self.hasInit = False
def init(self):
if self.frame is None:
self.frame = 'quadplane'
self.mavproxy_logfile = self.open_mavproxy_logfile()
defaults_file = os.path.join(testdir, 'default_params/quadplane.parm')
self.sitl = util.start_SITL(self.binary,
wipe=True,
model=self.frame,
home=self.home,
speedup=self.speedup,
defaults_file=defaults_file,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver,
breakpoints=self.breakpoints,
)
self.mavproxy = util.start_MAVProxy_SITL(
'QuadPlane', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)\r\n')
self.logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile)
self.try_symlink_tlog()
self.mavproxy.expect('Received [0-9]+ parameters')
util.expect_setup_callback(self.mavproxy, self.expect_callback)
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
self.progress("Started simulator")
self.get_mavlink_connection_going()
self.hasInit = True
self.progress("Ready to start testing!")
# def test_arm_motors_radio(self):
# super(AutotestQuadPlane, self).test_arm_motors_radio()
#
# def test_disarm_motors_radio(self):
# super(AutotestQuadPlane, self).test_disarm_motors_radio()
#
# def test_autodisarm_motors(self):
# super(AutotestQuadPlane, self).test_autodisarm_motors()
#
# def test_rtl(self, home, distance_min=10, timeout=250):
# super(AutotestQuadPlane, self).test_rtl(home,
# distance_min=10, timeout=250)
#
# def test_throttle_failsafe(self, home, distance_min=10,
# side=60, timeout=180):
# super(AutotestQuadPlane, self).test_throttle_failsafe(home,
# distance_min=10, side=60, timeout=180)
#
# def test_mission(self, filename):
# super(AutotestQuadPlane, self).test_mission(filename)
def fly_mission(self, filename, fence, height_accuracy=-1):
"""Fly a mission from a file."""
self.progress("Flying mission %s" % filename)
self.load_mission(filename)
self.mavproxy.send('fence load %s\n' % fence)
self.mavproxy.send('wp list\n')
self.mavproxy.expect('Requesting [0-9]+ waypoints')
self.wait_ready_to_arm()
self.arm_vehicle()
self.mavproxy.send('mode AUTO\n')
self.wait_mode('AUTO')
self.wait_waypoint(1, 19, max_dist=60, timeout=1200)
self.mav.motors_disarmed_wait()
# wait for blood sample here
self.mavproxy.send('wp set 20\n')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_waypoint(20, 34, max_dist=60, timeout=1200)
self.mav.motors_disarmed_wait()
self.progress("Mission OK")
def default_mode(self):
return "FBWA"
def tests(self):
'''return list of all tests'''
m = os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt")
f = os.path.join(testdir,
"ArduPlane-Missions/Dalby-OBC2016-fence.txt")
ret = super(AutoTestQuadPlane, self).tests()
ret.extend([
("ArmFeatures", "Arm features", self.test_arm_feature),
("Mission", "Dalby Mission",
lambda: self.fly_mission(m, f))
])
return ret