ardupilot/Tools/autotest/balancebot.py

91 lines
2.4 KiB
Python

#!/usr/bin/env python
# Drive balancebot in SITL
from __future__ import print_function
import os
from apmrover2 import AutoTestRover
from common import AutoTest
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
def log_name(self):
return "BalanceBot"
class AutoTestBalanceBot(AutoTestRover):
def vehicleinfo_key(self):
return "APMrover2"
def init(self):
if self.frame is None:
self.frame = 'balancebot'
super(AutoTestBalanceBot, self).init()
def test_do_set_mode_via_command_long(self):
self.do_set_mode_via_command_long("HOLD")
self.do_set_mode_via_command_long("MANUAL")
def rc_defaults(self):
ret = super(AutoTestBalanceBot, self).rc_defaults()
ret[3] = 1500
return ret
def is_balancebot(self):
return True
def drive_rtl_mission_max_distance_from_home(self):
'''maximum distance allowed from home at end'''
'''balancebot tends to wander backwards, away from the target'''
return 8
def drive_rtl_mission(self):
# if we Hold then the balancebot continues to wander
# indefinitely at ~1m/s
self.set_parameter("MIS_DONE_BEHAVE", 1)
super(AutoTestBalanceBot, self).drive_rtl_mission()
def tests(self):
'''return list of all tests'''
'''note that while AutoTestBalanceBot inherits from Rover we don't
inherit Rover's tests!'''
ret = AutoTest.tests(self)
ret.extend([
("DriveRTL",
"Drive an RTL Mission",
self.drive_rtl_mission),
("DriveMission",
"Drive Mission %s" % "balancebot1.txt",
lambda: self.drive_mission("balancebot1.txt")),
("GetBanner", "Get Banner", self.do_get_banner),
("GetCapabilities",
"Get Capabilities",
self.do_get_autopilot_capabilities),
("DO_SET_MODE",
"Set mode via MAV_COMMAND_DO_SET_MODE",
self.test_do_set_mode_via_command_long),
("ServoRelayEvents",
"Test ServoRelayEvents",
self.test_servorelayevents),
("DownLoadLogs", "Download logs", lambda:
self.log_download(
self.buildlogs_path("APMrover2-log.bin"),
upload_logs=len(self.fail_list) > 0)),
])
return ret
def default_mode(self):
return 'MANUAL'