mirror of https://github.com/ArduPilot/ardupilot
1968 lines
81 KiB
Python
1968 lines
81 KiB
Python
#!/usr/bin/env python
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# Drive APMrover2 in SITL
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from __future__ import print_function
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import os
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import time
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from common import AutoTest
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from common import AutoTestTimeoutException
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from common import MsgRcvTimeoutException
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from common import NotAchievedException
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from common import PreconditionFailedException
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from pymavlink import mavutil
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# get location of scripts
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testdir = os.path.dirname(os.path.realpath(__file__))
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SITL_START_LOCATION = mavutil.location(40.071374969556928,
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-105.22978898137808,
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1583.702759,
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246)
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class AutoTestRover(AutoTest):
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@staticmethod
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def get_not_armable_mode_list():
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return []
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@staticmethod
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def get_not_disarmed_settable_modes_list():
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return ["FOLLOW"]
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@staticmethod
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def get_no_position_not_settable_modes_list():
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return []
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@staticmethod
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def get_position_armable_modes_list():
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return ["GUIDED", "LOITER", "STEERING", "AUTO", "RTL", "SMART_RTL"]
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@staticmethod
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def get_normal_armable_modes_list():
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return ["ACRO", "HOLD", "MANUAL"]
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def log_name(self):
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return "APMrover2"
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def test_filepath(self):
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return os.path.realpath(__file__)
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def sitl_start_location(self):
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return SITL_START_LOCATION
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def default_frame(self):
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return "rover"
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def is_rover(self):
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return True
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def get_stick_arming_channel(self):
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return int(self.get_parameter("RCMAP_ROLL"))
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def arming_test_mission(self):
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return os.path.join(testdir, "ArduRover-Missions", "test_arming.txt")
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##########################################################
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# TESTS DRIVE
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##########################################################
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# Drive a square in manual mode
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def drive_square(self, side=50):
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"""Drive a square, Driving N then E ."""
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self.context_push()
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ex = None
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try:
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self.progress("TEST SQUARE")
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self.set_parameter("RC7_OPTION", 7)
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self.set_parameter("RC9_OPTION", 58)
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self.mavproxy.send('switch 5\n')
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self.wait_mode('MANUAL')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.clear_wp(9)
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# first aim north
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self.progress("\nTurn right towards north")
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self.reach_heading_manual(10)
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# save bottom left corner of box as home AND waypoint
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self.progress("Save HOME")
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self.save_wp()
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self.progress("Save WP")
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self.save_wp()
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# pitch forward to fly north
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self.progress("\nGoing north %u meters" % side)
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self.reach_distance_manual(side)
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# save top left corner of square as waypoint
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self.progress("Save WP")
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self.save_wp()
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# roll right to fly east
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self.progress("\nGoing east %u meters" % side)
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self.reach_heading_manual(100)
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self.reach_distance_manual(side)
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# save top right corner of square as waypoint
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self.progress("Save WP")
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self.save_wp()
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# pitch back to fly south
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self.progress("\nGoing south %u meters" % side)
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self.reach_heading_manual(190)
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self.reach_distance_manual(side)
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# save bottom right corner of square as waypoint
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self.progress("Save WP")
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self.save_wp()
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# roll left to fly west
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self.progress("\nGoing west %u meters" % side)
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self.reach_heading_manual(280)
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self.reach_distance_manual(side)
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# save bottom left corner of square (should be near home) as waypoint
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self.progress("Save WP")
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self.save_wp()
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self.progress("Checking number of saved waypoints")
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num_wp = self.save_mission_to_file(
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os.path.join(testdir, "rover-ch7_mission.txt"))
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expected = 7 # home + 6 toggled in
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if num_wp != expected:
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raise NotAchievedException("Did not get %u waypoints; got %u" %
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(expected, num_wp))
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# TODO: actually drive the mission
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self.clear_wp(9)
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except Exception as e:
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self.progress("Caught exception: %s" %
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self.get_exception_stacktrace(e))
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ex = e
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self.disarm_vehicle()
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self.context_pop()
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if ex:
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raise ex
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def drive_left_circuit(self):
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"""Drive a left circuit, 50m on a side."""
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self.mavproxy.send('switch 6\n')
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self.wait_mode('MANUAL')
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self.set_rc(3, 2000)
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self.progress("Driving 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(50, accuracy=7)
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self.set_rc(3, 1500)
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self.progress("Circuit complete")
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# def test_throttle_failsafe(self, home, distance_min=10, side=60,
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# timeout=300):
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# """Fly east, Failsafe, return, land."""
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#
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# self.mavproxy.send('switch 6\n') # manual mode
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# self.wait_mode('MANUAL')
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# self.mavproxy.send("param set FS_ACTION 1\n")
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#
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# # first aim east
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# self.progress("turn east")
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# if not self.reach_heading_manual(135):
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# return False
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#
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# # fly east 60 meters
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# self.progress("# Going forward %u meters" % side)
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# if not self.reach_distance_manual(side):
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# return False
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#
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# # pull throttle low
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# self.progress("# Enter Failsafe")
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# self.mavproxy.send('rc 3 900\n')
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#
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# tstart = self.get_sim_time()
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# success = False
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# while self.get_sim_time() < tstart + timeout and not success:
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# m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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# pos = self.mav.location()
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# home_distance = self.get_distance(home, pos)
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# self.progress("Alt: %u HomeDistance: %.0f" %
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# (m.alt, home_distance))
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# # check if we've reached home
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# if home_distance <= distance_min:
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# self.progress("RTL Complete")
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# success = True
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#
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# # reduce throttle
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# self.mavproxy.send('rc 3 1500\n')
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# self.mavproxy.expect('APM: Failsafe ended')
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# self.mavproxy.send('switch 2\n') # manual mode
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# self.wait_heartbeat()
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# self.wait_mode('MANUAL')
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#
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# if success:
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# self.progress("Reached failsafe home OK")
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# return True
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# else:
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# self.progress("Failed to reach Home on failsafe RTL - "
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# "timed out after %u seconds" % timeout)
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# return False
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def test_sprayer(self):
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"""Test sprayer functionality."""
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self.context_push()
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ex = None
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try:
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rc_ch = 5
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pump_ch = 5
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spinner_ch = 6
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pump_ch_min = 1050
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pump_ch_trim = 1520
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pump_ch_max = 1950
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spinner_ch_min = 975
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spinner_ch_trim = 1510
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spinner_ch_max = 1975
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self.set_parameter("SPRAY_ENABLE", 1)
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self.set_parameter("SERVO%u_FUNCTION" % pump_ch, 22)
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self.set_parameter("SERVO%u_MIN" % pump_ch, pump_ch_min)
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self.set_parameter("SERVO%u_TRIM" % pump_ch, pump_ch_trim)
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self.set_parameter("SERVO%u_MAX" % pump_ch, pump_ch_max)
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self.set_parameter("SERVO%u_FUNCTION" % spinner_ch, 23)
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self.set_parameter("SERVO%u_MIN" % spinner_ch, spinner_ch_min)
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self.set_parameter("SERVO%u_TRIM" % spinner_ch, spinner_ch_trim)
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self.set_parameter("SERVO%u_MAX" % spinner_ch, spinner_ch_max)
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self.set_parameter("SIM_SPR_ENABLE", 1)
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self.fetch_parameters()
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self.set_parameter("SIM_SPR_PUMP", pump_ch)
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self.set_parameter("SIM_SPR_SPIN", spinner_ch)
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self.set_parameter("RC%u_OPTION" % rc_ch, 15)
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self.set_parameter("LOG_DISARMED", 1)
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self.reboot_sitl()
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.progress("test bootup state - it's zero-output!")
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self.wait_servo_channel_value(spinner_ch, 0)
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self.wait_servo_channel_value(pump_ch, 0)
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self.progress("Enable sprayer")
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self.set_rc(rc_ch, 2000)
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self.progress("Testing zero-speed state")
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self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
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self.wait_servo_channel_value(pump_ch, pump_ch_min)
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self.progress("Testing turning it off")
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self.set_rc(rc_ch, 1000)
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self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
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self.wait_servo_channel_value(pump_ch, pump_ch_min)
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self.progress("Testing turning it back on")
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self.set_rc(rc_ch, 2000)
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self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
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self.wait_servo_channel_value(pump_ch, pump_ch_min)
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self.progress("Testing speed-ramping")
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self.set_rc(3, 1700) # start driving forward
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# this is somewhat empirical...
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self.wait_servo_channel_value(pump_ch, 1695, timeout=60)
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self.progress("Sprayer OK")
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except Exception as e:
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self.progress("Caught exception: %s" %
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self.get_exception_stacktrace(e))
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ex = e
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self.context_pop()
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self.disarm_vehicle(force=True)
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self.reboot_sitl()
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if ex:
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raise ex
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#################################################
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# AUTOTEST ALL
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#################################################
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def drive_mission(self, filename):
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"""Drive a mission from a file."""
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self.progress("Driving mission %s" % filename)
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self.load_mission(filename)
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.mavproxy.send('switch 4\n') # auto mode
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self.set_rc(3, 1500)
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self.wait_mode('AUTO')
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self.wait_waypoint(1, 4, max_dist=5)
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self.wait_mode('HOLD', timeout=300)
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self.disarm_vehicle()
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self.progress("Mission OK")
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def test_gripper_mission(self):
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self.load_mission("rover-gripper-mission.txt")
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self.change_mode('AUTO')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.mavproxy.expect("Gripper Grabbed")
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self.mavproxy.expect("Gripper Released")
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self.wait_mode("HOLD")
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self.disarm_vehicle()
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def do_get_banner(self):
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self.mavproxy.send("long DO_SEND_BANNER 1\n")
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start = time.time()
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while True:
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m = self.mav.recv_match(type='STATUSTEXT',
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blocking=True,
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timeout=1)
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if m is not None and "ArduRover" in m.text:
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self.progress("banner received: %s" % m.text)
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return
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if time.time() - start > 10:
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break
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raise MsgRcvTimeoutException("banner not received")
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def drive_brake_get_stopping_distance(self, speed):
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# measure our stopping distance:
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old_cruise_speed = self.get_parameter('CRUISE_SPEED')
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old_accel_max = self.get_parameter('ATC_ACCEL_MAX')
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# controller tends not to meet cruise speed (max of ~14 when 15
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# set), thus *1.2
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self.set_parameter('CRUISE_SPEED', speed*1.2)
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# at time of writing, the vehicle is only capable of 10m/s/s accel
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self.set_parameter('ATC_ACCEL_MAX', 15)
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self.change_mode("STEERING")
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self.set_rc(3, 2000)
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self.wait_groundspeed(15, 100)
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initial = self.mav.location()
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initial_time = time.time()
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while time.time() - initial_time < 2:
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# wait for a position update from the autopilot
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start = self.mav.location()
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if start != initial:
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break
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self.set_rc(3, 1500)
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self.wait_groundspeed(0, 0.2) # why do we not stop?!
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initial = self.mav.location()
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initial_time = time.time()
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while time.time() - initial_time < 2:
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# wait for a position update from the autopilot
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stop = self.mav.location()
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if stop != initial:
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break
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delta = self.get_distance(start, stop)
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self.set_parameter('CRUISE_SPEED', old_cruise_speed)
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self.set_parameter('ATC_ACCEL_MAX', old_accel_max)
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return delta
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def drive_brake(self):
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old_using_brake = self.get_parameter('ATC_BRAKE')
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old_cruise_speed = self.get_parameter('CRUISE_SPEED')
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self.set_parameter('CRUISE_SPEED', 15)
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self.set_parameter('ATC_BRAKE', 0)
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self.arm_vehicle()
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distance_without_brakes = self.drive_brake_get_stopping_distance(15)
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# brakes on:
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self.set_parameter('ATC_BRAKE', 1)
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distance_with_brakes = self.drive_brake_get_stopping_distance(15)
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# revert state:
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self.set_parameter('ATC_BRAKE', old_using_brake)
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self.set_parameter('CRUISE_SPEED', old_cruise_speed)
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delta = distance_without_brakes - distance_with_brakes
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if delta < distance_without_brakes * 0.05: # 5% isn't asking for much
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self.disarm_vehicle()
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raise NotAchievedException("""
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Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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""" %
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(distance_with_brakes,
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distance_without_brakes,
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delta))
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self.disarm_vehicle()
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self.progress(
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"Brakes work (with=%0.2fm without=%0.2fm delta=%0.2fm)" %
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(distance_with_brakes, distance_without_brakes, delta))
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def drive_rtl_mission_max_distance_from_home(self):
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'''maximum distance allowed from home at end'''
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return 6.5
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def drive_rtl_mission(self):
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self.wait_ready_to_arm()
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self.arm_vehicle()
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mission_filepath = os.path.join("ArduRover-Missions", "rtl.txt")
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self.load_mission(mission_filepath)
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self.change_mode("AUTO")
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self.mavproxy.expect('Mission: 3 RTL')
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self.drain_mav();
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m = self.mav.recv_match(type='NAV_CONTROLLER_OUTPUT',
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blocking=True,
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timeout=1)
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if m is None:
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raise MsgRcvTimeoutException(
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"Did not receive NAV_CONTROLLER_OUTPUT message")
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wp_dist_min = 5
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if m.wp_dist < wp_dist_min:
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raise PreconditionFailedException(
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"Did not start at least %f metres from destination (is=%f)" %
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(wp_dist_min, m.wp_dist))
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self.progress("NAV_CONTROLLER_OUTPUT.wp_dist looks good (%u >= %u)" %
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(m.wp_dist, wp_dist_min,))
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tstart = self.get_sim_time()
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while True:
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if self.get_sim_time_cached() - tstart > 600:
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raise NotAchievedException("Did not get home")
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self.progress("Distance home: %f (mode=%s)" %
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(self.distance_to_home(), self.mav.flightmode))
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if self.mode_is('HOLD') or self.mode_is('ACRO'): # acro for balancebot
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break
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# the EKF doesn't pull us down to 0 speed:
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self.wait_groundspeed(0, 0.5, timeout=600)
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# current Rover blows straight past the home position and ends
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# up ~6m past the home point.
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home_distance = self.distance_to_home()
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home_distance_min = 5.5
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home_distance_max = self.drive_rtl_mission_max_distance_from_home()
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if home_distance > home_distance_max:
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raise NotAchievedException(
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"Did not stop near home (%f metres distant (%f > want > %f))" %
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(home_distance, home_distance_min, home_distance_max))
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self.disarm_vehicle()
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self.progress("RTL Mission OK (%fm)" % home_distance)
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def wait_distance_home_gt(self, distance, timeout=60):
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home_distance = None
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tstart = self.get_sim_time()
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while self.get_sim_time_cached() - tstart < timeout:
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# m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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distance_home = self.distance_to_home(use_cached_home=True)
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self.progress("distance_home=%f want=%f" % (distance_home, distance))
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if distance_home > distance:
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return
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self.drain_mav()
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raise NotAchievedException("Failed to get %fm from home (now=%f)" %
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(distance, home_distance))
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def drive_fence_ac_avoidance(self):
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self.context_push()
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ex = None
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try:
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self.load_fence("rover-fence-ac-avoid.txt")
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self.set_parameter("FENCE_ENABLE", 0)
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self.set_parameter("PRX_TYPE", 10)
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self.set_parameter("RC10_OPTION", 40) # proximity-enable
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self.reboot_sitl()
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# start = self.mav.location()
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self.wait_ready_to_arm()
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self.arm_vehicle()
|
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# first make sure we can breach the fence:
|
|
self.set_rc(10, 1000)
|
|
self.change_mode("ACRO")
|
|
self.set_rc(3, 1550)
|
|
self.wait_distance_home_gt(25)
|
|
self.change_mode("RTL")
|
|
self.mavproxy.expect("APM: Reached destination")
|
|
# now enable avoidance and make sure we can't:
|
|
self.set_rc(10, 2000)
|
|
self.change_mode("ACRO")
|
|
self.wait_groundspeed(0, 0.7, timeout=60)
|
|
# watch for speed zero
|
|
self.wait_groundspeed(0, 0.2, timeout=120)
|
|
|
|
except Exception as e:
|
|
self.progress("Caught exception: %s" %
|
|
self.get_exception_stacktrace(e))
|
|
ex = e
|
|
self.context_pop()
|
|
self.mavproxy.send("fence clear\n")
|
|
self.disarm_vehicle(force=True)
|
|
self.reboot_sitl()
|
|
if ex:
|
|
raise ex
|
|
|
|
def test_servorelayevents(self):
|
|
self.do_set_relay(0, 0)
|
|
off = self.get_parameter("SIM_PIN_MASK")
|
|
self.do_set_relay(0, 1)
|
|
on = self.get_parameter("SIM_PIN_MASK")
|
|
if on == off:
|
|
raise NotAchievedException(
|
|
"Pin mask unchanged after relay cmd")
|
|
self.progress("Pin mask changed after relay command")
|
|
|
|
def test_setting_modes_via_mavproxy_switch(self):
|
|
fnoo = [(1, 'MANUAL'),
|
|
(2, 'MANUAL'),
|
|
(3, 'RTL'),
|
|
# (4, 'AUTO'), # no mission, can't set auto
|
|
(5, 'RTL'), # non-existant mode, should stay in RTL
|
|
(6, 'MANUAL')]
|
|
for (num, expected) in fnoo:
|
|
self.mavproxy.send('switch %u\n' % num)
|
|
self.wait_mode(expected)
|
|
|
|
def test_setting_modes_via_mavproxy_mode_command(self):
|
|
fnoo = [(1, 'ACRO'),
|
|
(3, 'STEERING'),
|
|
(4, 'HOLD'),
|
|
]
|
|
for (num, expected) in fnoo:
|
|
self.mavproxy.send('mode manual\n')
|
|
self.wait_mode("MANUAL")
|
|
self.mavproxy.send('mode %u\n' % num)
|
|
self.wait_mode(expected)
|
|
self.mavproxy.send('mode manual\n')
|
|
self.wait_mode("MANUAL")
|
|
self.mavproxy.send('mode %s\n' % expected)
|
|
self.wait_mode(expected)
|
|
|
|
def test_setting_modes_via_modeswitch(self):
|
|
# test setting of modes through mode switch
|
|
self.context_push()
|
|
ex = None
|
|
try:
|
|
self.set_parameter("MODE_CH", 8)
|
|
self.set_rc(8, 1000)
|
|
# mavutil.mavlink.ROVER_MODE_HOLD:
|
|
self.set_parameter("MODE6", 4)
|
|
# mavutil.mavlink.ROVER_MODE_ACRO
|
|
self.set_parameter("MODE5", 1)
|
|
self.set_rc(8, 1800) # PWM for mode6
|
|
self.wait_mode("HOLD")
|
|
self.set_rc(8, 1700) # PWM for mode5
|
|
self.wait_mode("ACRO")
|
|
self.set_rc(8, 1800) # PWM for mode6
|
|
self.wait_mode("HOLD")
|
|
self.set_rc(8, 1700) # PWM for mode5
|
|
self.wait_mode("ACRO")
|
|
except Exception as e:
|
|
self.progress("Exception caught")
|
|
ex = e
|
|
|
|
self.context_pop()
|
|
|
|
if ex is not None:
|
|
raise ex
|
|
|
|
def test_setting_modes_via_auxswitches(self):
|
|
self.context_push()
|
|
ex = None
|
|
try:
|
|
self.set_parameter("MODE5", 1)
|
|
self.mavproxy.send('switch 1\n') # random mode
|
|
self.wait_heartbeat()
|
|
self.change_mode('MANUAL')
|
|
self.mavproxy.send('switch 5\n') # acro mode
|
|
self.wait_mode("ACRO")
|
|
self.set_rc(9, 1000)
|
|
self.set_rc(10, 1000)
|
|
self.set_parameter("RC9_OPTION", 53) # steering
|
|
self.set_parameter("RC10_OPTION", 54) # hold
|
|
self.set_rc(9, 1900)
|
|
self.wait_mode("STEERING")
|
|
self.set_rc(10, 1900)
|
|
self.wait_mode("HOLD")
|
|
|
|
# reset both switches - should go back to ACRO
|
|
self.set_rc(9, 1000)
|
|
self.set_rc(10, 1000)
|
|
self.wait_mode("ACRO")
|
|
|
|
self.set_rc(9, 1900)
|
|
self.wait_mode("STEERING")
|
|
self.set_rc(10, 1900)
|
|
self.wait_mode("HOLD")
|
|
|
|
self.set_rc(10, 1000) # this re-polls the mode switch
|
|
self.wait_mode("ACRO")
|
|
self.set_rc(9, 1000)
|
|
except Exception as e:
|
|
self.progress("Exception caught")
|
|
ex = e
|
|
|
|
self.context_pop()
|
|
|
|
if ex is not None:
|
|
raise ex
|
|
|
|
def test_rc_override_cancel(self):
|
|
self.change_mode('MANUAL')
|
|
self.wait_ready_to_arm()
|
|
self.zero_throttle()
|
|
self.arm_vehicle()
|
|
# start moving forward a little:
|
|
normal_rc_throttle = 1700
|
|
throttle_override = 1900
|
|
|
|
self.progress("Establishing baseline RC input")
|
|
self.mavproxy.send('rc 3 %u\n' % normal_rc_throttle)
|
|
tstart = self.get_sim_time_cached()
|
|
while True:
|
|
if self.get_sim_time_cached() - tstart > 10:
|
|
raise AutoTestTimeoutException("Did not get rc change")
|
|
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
|
|
if m.chan3_raw == normal_rc_throttle:
|
|
break
|
|
|
|
self.progress("Set override with RC_CHANNELS_OVERRIDE")
|
|
tstart = self.get_sim_time_cached()
|
|
while True:
|
|
if self.get_sim_time_cached() - tstart > 10:
|
|
raise AutoTestTimeoutException("Did not override")
|
|
self.progress("Sending throttle of %u" % (throttle_override,))
|
|
self.mav.mav.rc_channels_override_send(
|
|
1, # target system
|
|
1, # targe component
|
|
65535, # chan1_raw
|
|
65535, # chan2_raw
|
|
throttle_override, # chan3_raw
|
|
65535, # chan4_raw
|
|
65535, # chan5_raw
|
|
65535, # chan6_raw
|
|
65535, # chan7_raw
|
|
65535) # chan8_raw
|
|
|
|
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
|
|
self.progress("chan3=%f want=%f" % (m.chan3_raw, throttle_override))
|
|
if m.chan3_raw == throttle_override:
|
|
break
|
|
|
|
self.progress("disabling override and making sure we revert to RC input in good time")
|
|
tstart = self.get_sim_time_cached()
|
|
while True:
|
|
if self.get_sim_time_cached() - tstart > 0.5:
|
|
raise AutoTestTimeoutException("Did not cancel override")
|
|
self.progress("Sending cancel of throttle override")
|
|
self.mav.mav.rc_channels_override_send(
|
|
1, # target system
|
|
1, # targe component
|
|
65535, # chan1_raw
|
|
65535, # chan2_raw
|
|
0, # chan3_raw
|
|
65535, # chan4_raw
|
|
65535, # chan5_raw
|
|
65535, # chan6_raw
|
|
65535, # chan7_raw
|
|
65535) # chan8_raw
|
|
|
|
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
|
|
self.progress("chan3=%f want=%f" % (m.chan3_raw, normal_rc_throttle))
|
|
if m.chan3_raw == normal_rc_throttle:
|
|
break
|
|
self.disarm_vehicle()
|
|
|
|
def test_rc_overrides(self):
|
|
self.context_push()
|
|
ex = None
|
|
try:
|
|
self.set_parameter("RC12_OPTION", 46)
|
|
self.reboot_sitl()
|
|
|
|
self.mavproxy.send('switch 6\n') # Manual mode
|
|
self.wait_mode('MANUAL')
|
|
self.wait_ready_to_arm()
|
|
self.mavproxy.send('rc 3 1500\n') # throttle at zero
|
|
self.arm_vehicle()
|
|
# start moving forward a little:
|
|
normal_rc_throttle = 1700
|
|
self.mavproxy.send('rc 3 %u\n' % normal_rc_throttle)
|
|
self.wait_groundspeed(5, 100)
|
|
|
|
# allow overrides:
|
|
self.set_rc(12, 2000)
|
|
|
|
# now override to stop:
|
|
throttle_override = 1500
|
|
|
|
tstart = self.get_sim_time_cached()
|
|
while True:
|
|
if self.get_sim_time_cached() - tstart > 10:
|
|
raise AutoTestTimeoutException("Did not reach speed")
|
|
self.progress("Sending throttle of %u" % (throttle_override,))
|
|
self.mav.mav.rc_channels_override_send(
|
|
1, # target system
|
|
1, # targe component
|
|
65535, # chan1_raw
|
|
65535, # chan2_raw
|
|
throttle_override, # chan3_raw
|
|
65535, # chan4_raw
|
|
65535, # chan5_raw
|
|
65535, # chan6_raw
|
|
65535, # chan7_raw
|
|
65535) # chan8_raw
|
|
|
|
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
|
want_speed = 2.0
|
|
self.progress("Speed=%f want=<%f" % (m.groundspeed, want_speed))
|
|
if m.groundspeed < want_speed:
|
|
break
|
|
|
|
# now override to stop - but set the switch on the RC
|
|
# transmitter to deny overrides; this should send the
|
|
# speed back up to 5 metres/second:
|
|
self.set_rc(12, 1000)
|
|
|
|
throttle_override = 1500
|
|
tstart = self.get_sim_time_cached()
|
|
while True:
|
|
if self.get_sim_time_cached() - tstart > 10:
|
|
raise AutoTestTimeoutException("Did not stop")
|
|
print("Sending throttle of %u" % (throttle_override,))
|
|
self.mav.mav.rc_channels_override_send(
|
|
1, # target system
|
|
1, # targe component
|
|
65535, # chan1_raw
|
|
65535, # chan2_raw
|
|
throttle_override, # chan3_raw
|
|
65535, # chan4_raw
|
|
65535, # chan5_raw
|
|
65535, # chan6_raw
|
|
65535, # chan7_raw
|
|
65535) # chan8_raw
|
|
|
|
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
|
want_speed = 5.0
|
|
print("Speed=%f want=>%f" % (m.groundspeed, want_speed))
|
|
|
|
if m.groundspeed > want_speed:
|
|
break
|
|
|
|
# re-enable RC overrides
|
|
self.set_rc(12, 2000)
|
|
|
|
# check we revert to normal RC inputs when gcs overrides cease:
|
|
self.progress("Waiting for RC to revert to normal RC input")
|
|
while True:
|
|
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
|
|
print("%s" % m)
|
|
if m.chan3_raw == normal_rc_throttle:
|
|
break
|
|
|
|
except Exception as e:
|
|
self.progress("Exception caught")
|
|
ex = e
|
|
|
|
self.context_pop()
|
|
self.disarm_vehicle()
|
|
self.reboot_sitl()
|
|
|
|
if ex is not None:
|
|
raise ex
|
|
|
|
def test_manual_control(self):
|
|
self.context_push()
|
|
ex = None
|
|
try:
|
|
self.set_parameter("RC12_OPTION", 46) # enable/disable rc overrides
|
|
self.reboot_sitl()
|
|
|
|
self.change_mode("MANUAL")
|
|
self.wait_ready_to_arm()
|
|
self.zero_throttle()
|
|
self.arm_vehicle()
|
|
self.progress("start moving forward a little")
|
|
normal_rc_throttle = 1700
|
|
self.mavproxy.send('rc 3 %u\n' % normal_rc_throttle)
|
|
self.wait_groundspeed(5, 100)
|
|
|
|
self.progress("allow overrides")
|
|
self.set_rc(12, 2000)
|
|
|
|
self.progress("now override to stop")
|
|
throttle_override_normalized = 0
|
|
expected_throttle = 0 # in VFR_HUD
|
|
|
|
tstart = self.get_sim_time_cached()
|
|
while True:
|
|
if self.get_sim_time_cached() - tstart > 10:
|
|
raise AutoTestTimeoutException("Did not reach speed")
|
|
self.progress("Sending normalized throttle of %d" % (throttle_override_normalized,))
|
|
self.mav.mav.manual_control_send(
|
|
1, # target system
|
|
32767, # x (pitch)
|
|
32767, # y (roll)
|
|
throttle_override_normalized, # z (thrust)
|
|
32767, # r (yaw)
|
|
0) # button mask
|
|
|
|
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
|
want_speed = 2.0
|
|
self.progress("Speed=%f want=<%f throttle=%u want=%u" %
|
|
(m.groundspeed, want_speed, m.throttle, expected_throttle))
|
|
if m.groundspeed < want_speed and m.throttle == expected_throttle:
|
|
break
|
|
|
|
self.progress("now override to stop - but set the switch on the RC transmitter to deny overrides; this should send the speed back up to 5 metres/second")
|
|
self.set_rc(12, 1000)
|
|
|
|
throttle_override_normalized = 500
|
|
expected_throttle = 36 # in VFR_HUD, corresponding to normal_rc_throttle adjusted for channel min/max
|
|
|
|
tstart = self.get_sim_time_cached()
|
|
while True:
|
|
if self.get_sim_time_cached() - tstart > 10:
|
|
raise AutoTestTimeoutException("Did not stop")
|
|
print("Sending normalized throttle of %u" % (throttle_override_normalized,))
|
|
self.mav.mav.manual_control_send(
|
|
1, # target system
|
|
32767, # x (pitch)
|
|
32767, # y (roll)
|
|
throttle_override_normalized, # z (thrust)
|
|
32767, # r (yaw)
|
|
0) # button mask
|
|
|
|
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
|
want_speed = 5.0
|
|
|
|
self.progress("Speed=%f want=>%f throttle=%u want=%u" %
|
|
(m.groundspeed, want_speed, m.throttle, expected_throttle))
|
|
if m.groundspeed > want_speed and m.throttle == expected_throttle:
|
|
break
|
|
|
|
# re-enable RC overrides
|
|
self.set_rc(12, 2000)
|
|
|
|
# check we revert to normal RC inputs when gcs overrides cease:
|
|
self.progress("Waiting for RC to revert to normal RC input")
|
|
while True:
|
|
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
|
|
print("%s" % m)
|
|
if m.chan3_raw == normal_rc_throttle:
|
|
break
|
|
|
|
except Exception as e:
|
|
self.progress("Exception caught")
|
|
ex = e
|
|
|
|
self.context_pop()
|
|
self.disarm_vehicle()
|
|
self.reboot_sitl()
|
|
|
|
if ex is not None:
|
|
raise ex
|
|
|
|
def test_camera_mission_items(self):
|
|
self.context_push()
|
|
ex = None
|
|
try:
|
|
self.load_mission("rover-camera-mission.txt")
|
|
self.wait_ready_to_arm()
|
|
self.change_mode("AUTO")
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle()
|
|
prev_cf = None
|
|
while True:
|
|
cf = self.mav.recv_match(type='CAMERA_FEEDBACK', blocking=True)
|
|
if prev_cf is None:
|
|
prev_cf = cf
|
|
continue
|
|
dist_travelled = self.get_distance_int(prev_cf, cf)
|
|
prev_cf = cf
|
|
mc = self.mav.messages.get("MISSION_CURRENT", None)
|
|
if mc is None:
|
|
continue
|
|
elif mc.seq == 2:
|
|
expected_distance = 2
|
|
elif mc.seq == 4:
|
|
expected_distance = 5
|
|
elif mc.seq == 5:
|
|
break
|
|
else:
|
|
continue
|
|
self.progress("Expected distance %f got %f" %
|
|
(expected_distance, dist_travelled))
|
|
error = abs(expected_distance - dist_travelled)
|
|
# Rover moves at ~5m/s; we appear to do something at
|
|
# 5Hz, so we do see over a meter of error!
|
|
max_error = 1.5
|
|
if error > max_error:
|
|
raise NotAchievedException("Camera distance error: %f (%f)" %
|
|
(error, max_error))
|
|
|
|
self.disarm_vehicle()
|
|
except Exception as e:
|
|
self.progress("Exception caught")
|
|
ex = e
|
|
self.context_pop()
|
|
if ex is not None:
|
|
raise ex
|
|
|
|
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 test_mavproxy_do_set_mode_via_command_long(self):
|
|
self.mavproxy_do_set_mode_via_command_long("HOLD")
|
|
self.mavproxy_do_set_mode_via_command_long("MANUAL")
|
|
|
|
def test_sysid_enforce(self):
|
|
'''Run the same arming code with correct then incorrect SYSID'''
|
|
self.context_push()
|
|
ex = None
|
|
try:
|
|
# if set_parameter is ever changed to not use MAVProxy
|
|
# this test is going to break horribly. Sorry.
|
|
self.set_parameter("SYSID_MYGCS", 255) # assume MAVProxy does this!
|
|
self.set_parameter("SYSID_ENFORCE", 1) # assume MAVProxy does this!
|
|
|
|
self.change_mode('MANUAL')
|
|
|
|
self.progress("make sure I can arm ATM")
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle(timeout=5)
|
|
self.disarm_vehicle()
|
|
|
|
# temporarily set a different system ID than MAVProxy:
|
|
self.progress("Attempting to arm vehicle myself")
|
|
old_srcSystem = self.mav.mav.srcSystem
|
|
try:
|
|
self.mav.mav.srcSystem = 243
|
|
self.arm_vehicle(timeout=5)
|
|
self.disarm_vehicle()
|
|
success = False
|
|
except AutoTestTimeoutException as e:
|
|
success = True
|
|
self.mav.mav.srcSystem = old_srcSystem
|
|
if not success:
|
|
raise NotAchievedException(
|
|
"Managed to arm with SYSID_ENFORCE set")
|
|
|
|
self.progress("Attempting to arm vehicle from vehicle component")
|
|
old_srcSystem = self.mav.mav.srcSystem
|
|
comp_arm_exception = None
|
|
try:
|
|
self.mav.mav.srcSystem = 1
|
|
self.arm_vehicle(timeout=5)
|
|
self.disarm_vehicle()
|
|
except Exception as e:
|
|
comp_arm_exception = e
|
|
self.mav.mav.srcSystem = old_srcSystem
|
|
if comp_arm_exception is not None:
|
|
raise comp_arm_exception
|
|
|
|
except Exception as e:
|
|
self.progress("Exception caught")
|
|
ex = e
|
|
self.context_pop()
|
|
if ex is not None:
|
|
raise ex
|
|
|
|
def drain_mav_seconds(self, seconds):
|
|
tstart = self.get_sim_time_cached()
|
|
while self.get_sim_time_cached() - tstart < seconds:
|
|
self.drain_mav();
|
|
self.delay_sim_time(0.5)
|
|
|
|
def test_button(self):
|
|
self.set_parameter("SIM_PIN_MASK", 0)
|
|
self.set_parameter("BTN_ENABLE", 1)
|
|
btn = 2
|
|
pin = 3
|
|
self.drain_mav()
|
|
self.set_parameter("BTN_PIN%u" % btn, pin)
|
|
m = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1)
|
|
self.progress("m: %s" % str(m))
|
|
if m is None:
|
|
raise NotAchievedException("Did not get BUTTON_CHANGE event")
|
|
mask = 1<<btn
|
|
if m.state & mask:
|
|
raise NotAchievedException("Bit incorrectly set in mask (got=%u dontwant=%u)" % (m.state, mask))
|
|
# SITL instantly reverts the pin to its old value
|
|
m2 = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1)
|
|
self.progress("m2: %s" % str(m2))
|
|
if m2 is None:
|
|
raise NotAchievedException("Did not get repeat message")
|
|
# wait for messages to stop coming:
|
|
self.drain_mav_seconds(15)
|
|
|
|
self.set_parameter("SIM_PIN_MASK", 0)
|
|
m3 = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1)
|
|
self.progress("m3: %s" % str(m3))
|
|
if m3 is None:
|
|
raise NotAchievedException("Did not get new message")
|
|
if m.last_change_ms == m3.last_change_ms:
|
|
raise NotAchievedException("last_change_ms same as first message")
|
|
if m3.state != 0:
|
|
raise NotAchievedException("Didn't get expected mask back in message (mask=0 state=%u" % (m3.state))
|
|
|
|
def test_rally_points(self):
|
|
self.reboot_sitl() # to ensure starting point is as expected
|
|
|
|
self.load_rally("rover-test-rally.txt")
|
|
accuracy = self.get_parameter("WP_RADIUS")
|
|
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle()
|
|
|
|
self.reach_heading_manual(10)
|
|
self.reach_distance_manual(50)
|
|
|
|
self.change_mode("RTL")
|
|
# location copied in from rover-test-rally.txt:
|
|
loc = mavutil.location(40.071553,
|
|
-105.229401,
|
|
0,
|
|
0)
|
|
self.wait_location(loc, accuracy=accuracy)
|
|
self.disarm_vehicle()
|
|
|
|
def roundtrip_fencepoint_protocol(self, offset, count, lat, lng, target_system=1, target_component=1):
|
|
|
|
self.progress("Sending fence point")
|
|
self.mav.mav.fence_point_send(target_system,
|
|
target_component,
|
|
offset,
|
|
1,
|
|
lat,
|
|
lng)
|
|
|
|
self.progress("Requesting fence point")
|
|
self.mav.mav.fence_fetch_point_send(target_system,
|
|
target_component,
|
|
offset)
|
|
m = self.mav.recv_match(type="FENCE_POINT", blocking=True, timeout=2)
|
|
print("m: %s" % str(m))
|
|
if m is None:
|
|
raise NotAchievedException("Did not get fence return point back")
|
|
if abs(m.lat - lat) > 0.000001:
|
|
raise NotAchievedException("Did not get correct lat in fencepoint: got=%f want=%f" % (m.lat, lat))
|
|
if abs(m.lng - lng) > 0.000001:
|
|
raise NotAchievedException("Did not get correct lng in fencepoint: got=%f want=%f" % (m.lng, lng))
|
|
self.progress("Roundtrip OK")
|
|
|
|
def test_gcs_fence(self):
|
|
target_system = 1
|
|
target_component = 1
|
|
|
|
self.progress("Testing FENCE_POINT protocol")
|
|
self.set_parameter("FENCE_TOTAL", 1)
|
|
|
|
self.roundtrip_fencepoint_protocol(0, 1, 1.2345, 5.4321, target_system=target_system, target_component=target_component)
|
|
|
|
lat = 2.345
|
|
lng = 4.321
|
|
self.roundtrip_fencepoint_protocol(0, 1, lat, lng, target_system=target_system, target_component=target_component)
|
|
|
|
def test_offboard(self, timeout=90):
|
|
self.load_mission("rover-guided-mission.txt")
|
|
self.wait_ready_to_arm(require_absolute=True)
|
|
self.arm_vehicle()
|
|
self.change_mode("AUTO")
|
|
|
|
offboard_expected_duration = 10 # see mission file
|
|
|
|
if self.mav.messages.get("SET_POSITION_TARGET_GLOBAL_INT", None):
|
|
raise PreconditionFailedException("Already have SET_POSITION_TARGET_GLOBAL_INT")
|
|
|
|
tstart = self.get_sim_time_cached()
|
|
last_heartbeat_sent = 0
|
|
got_sptgi = False
|
|
magic_waypoint_tstart = 0
|
|
magic_waypoint_tstop = 0
|
|
while True:
|
|
if self.mode_is("HOLD", cached=True):
|
|
break
|
|
|
|
now = self.get_sim_time_cached()
|
|
if now - last_heartbeat_sent > 1:
|
|
last_heartbeat_sent = now
|
|
self.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_ONBOARD_CONTROLLER,
|
|
mavutil.mavlink.MAV_AUTOPILOT_INVALID,
|
|
0,
|
|
0,
|
|
0)
|
|
|
|
if now - tstart > timeout:
|
|
raise AutoTestTimeoutException("Didn't complete")
|
|
magic_waypoint = 3
|
|
# mc = self.mav.messages.get("MISSION_CURRENT", None)
|
|
mc = self.mav.recv_match(type="MISSION_CURRENT", blocking=False)
|
|
if mc is not None:
|
|
print("%s" % str(mc))
|
|
if mc.seq == magic_waypoint:
|
|
print("At magic waypoint")
|
|
if magic_waypoint_tstart == 0:
|
|
magic_waypoint_tstart = self.get_sim_time_cached()
|
|
sptgi = self.mav.messages.get("SET_POSITION_TARGET_GLOBAL_INT", None)
|
|
if sptgi is not None:
|
|
got_sptgi = True
|
|
elif mc.seq > magic_waypoint:
|
|
if magic_waypoint_tstop == 0:
|
|
magic_waypoint_tstop = self.get_sim_time_cached()
|
|
|
|
self.disarm_vehicle()
|
|
offboard_duration = magic_waypoint_tstop - magic_waypoint_tstart
|
|
if abs(offboard_duration - offboard_expected_duration) > 1:
|
|
raise NotAchievedException("Did not stay in offboard control for correct time (want=%f got=%f)" %
|
|
(offboard_expected_duration, offboard_duration))
|
|
|
|
if not got_sptgi:
|
|
raise NotAchievedException("Did not get sptgi message")
|
|
print("spgti: %s" % str(sptgi))
|
|
|
|
def assert_mission_count_on_link(self, mav, expected_count, target_system, target_component, mission_type):
|
|
self.drain_mav(mav)
|
|
self.progress("waiting for a message - any message....")
|
|
m = mav.recv_match(blocking=True, timeout=1)
|
|
self.progress("Received (%s)" % str(m))
|
|
|
|
if not mav.mavlink20():
|
|
raise NotAchievedException("Not doing mavlink2")
|
|
tstart = self.get_sim_time()
|
|
mav.mav.mission_request_list_send(target_system,
|
|
target_component,
|
|
mission_type)
|
|
while True:
|
|
if self.get_sim_time_cached() - tstart > 10:
|
|
raise NotAchievedException("Did not receive MISSION_COUNT on link")
|
|
m = mav.recv_match(blocking=True, timeout=1)
|
|
if m is None:
|
|
self.progress("No messages")
|
|
continue
|
|
self.progress("Received (%s)" % str(m))
|
|
if m.get_type() == "MISSION_ACK":
|
|
if m.type != mavutil.mavlink.MAV_MISSION_ACCEPTED:
|
|
raise NotAchievedException("Expected MISSION_COUNT, got (%s)" % m)
|
|
if m.get_type() == "MISSION_COUNT":
|
|
break
|
|
if m.mission_type != mission_type:
|
|
raise NotAchievedException("Did not get expected mission type (want=%u got=%u)" % (mission_type, m.mission_type))
|
|
if m.count != expected_count:
|
|
raise NotAchievedException("Bad count received (want=%u got=%u)" %
|
|
(expected_count, m.count))
|
|
|
|
def get_mission_item_int_on_link(self, item, mav, target_system, target_component, mission_type):
|
|
mav.mav.mission_request_int_send(target_system,
|
|
target_component,
|
|
item,
|
|
mission_type)
|
|
m = mav.recv_match(type='MISSION_ITEM_INT',
|
|
blocking=True,
|
|
timeout=1)
|
|
if m is None:
|
|
raise NotAchievedException("Did not receive mission item int")
|
|
if m.mission_type != mission_type:
|
|
raise NotAchievedException("Mission item of incorrect type")
|
|
if m.target_system != mav.mav.srcSystem:
|
|
raise NotAchievedException("Unexpected target system %u want=%u" %
|
|
(m.target_system, mav.mav.srcSystem))
|
|
if m.seq != item:
|
|
raise NotAchievedException("Incorrect sequence number on received item got=%u want=%u" %
|
|
(m.seq, item))
|
|
if m.mission_type != mission_type:
|
|
raise NotAchievedException("Mission type incorrect on received item (want=%u got=%u)" %
|
|
(mission_type, m.mission_type))
|
|
if m.target_component != mav.mav.srcComponent:
|
|
raise NotAchievedException("Unexpected target component %u want=%u" %
|
|
(m.target_component, mav.mav.srcComponent))
|
|
return m
|
|
|
|
def get_mission_item_on_link(self, item, mav, target_system, target_component, mission_type):
|
|
mav.mav.mission_request_send(target_system,
|
|
target_component,
|
|
item,
|
|
mission_type)
|
|
m = mav.recv_match(type='MISSION_ITEM',
|
|
blocking=True,
|
|
timeout=1)
|
|
if m is None:
|
|
raise NotAchievedException("Did not receive mission item int")
|
|
if m.target_system != mav.mav.srcSystem:
|
|
raise NotAchievedException("Unexpected target system %u want=%u" %
|
|
(m.target_system, mav.mav.srcSystem))
|
|
if m.seq != item:
|
|
raise NotAchievedException("Incorrect sequence number on received item_int got=%u want=%u" %
|
|
(m.seq, item))
|
|
if m.mission_type != mission_type:
|
|
raise NotAchievedException("Mission type incorrect on received item_int (want=%u got=%u)" %
|
|
(mission_type, m.mission_type))
|
|
if m.target_component != mav.mav.srcComponent:
|
|
raise NotAchievedException("Unexpected target component %u want=%u" %
|
|
(m.target_component, mav.mav.srcComponent))
|
|
return m
|
|
|
|
def clear_mission(self, mission_type, target_system=1, target_component=1):
|
|
self.mav.mav.mission_count_send(target_system,
|
|
target_component,
|
|
0,
|
|
mission_type)
|
|
m = self.mav.recv_match(type='MISSION_ACK',
|
|
blocking=True,
|
|
timeout=5)
|
|
if m is None:
|
|
raise NotAchievedException("Expected ACK for clearing mission")
|
|
if m.target_system != self.mav.mav.srcSystem:
|
|
raise NotAchievedException("ACK not targetted at correct system want=%u got=%u" %
|
|
(self.mav.mav.srcSystem, m.target_system))
|
|
if m.target_component != self.mav.mav.srcComponent:
|
|
raise NotAchievedException("ACK not targetted at correct component want=%u got=%u" %
|
|
(self.mav.mav.srcComponent, m.target_component))
|
|
if m.type != mavutil.mavlink.MAV_MISSION_ACCEPTED:
|
|
raise NotAchievedException("Expected MAV_MISSION_ACCEPTED got %s" %
|
|
(mavutil.mavlink.enums["MAV_MISSION_RESULT"][m.type].name,))
|
|
|
|
def assert_receive_mission_item_request(self, mission_type, seq):
|
|
self.progress("Expecting request for item %u" % seq)
|
|
m = self.mav.recv_match(type='MISSION_REQUEST',
|
|
blocking=True,
|
|
timeout=1)
|
|
if m is None:
|
|
raise NotAchievedException("Did not get item request")
|
|
if m.mission_type != mission_type:
|
|
raise NotAchievedException("Incorrect mission type (wanted=%u got=%u)" %
|
|
(mission_type, m.mission_type))
|
|
if m.seq != seq:
|
|
raise NotAchievedException("Unexpected sequence number (want=%u got=%u)" % (seq, m.seq))
|
|
self.progress("Received item request OK")
|
|
|
|
def assert_receive_mission_ack(self, mission_type,
|
|
want_type=mavutil.mavlink.MAV_MISSION_ACCEPTED,
|
|
target_system=None,
|
|
target_component=None,
|
|
mav=None):
|
|
if mav is None:
|
|
mav = self.mav
|
|
if target_system is None:
|
|
target_system = mav.mav.srcSystem
|
|
if target_component is None:
|
|
target_component = mav.mav.srcComponent
|
|
self.progress("Expecting mission ack")
|
|
m = mav.recv_match(type='MISSION_ACK',
|
|
blocking=True,
|
|
timeout=5)
|
|
self.progress("Received ACK (%s)" % str(m))
|
|
if m is None:
|
|
raise NotAchievedException("Expected mission ACK")
|
|
if m.target_system != target_system:
|
|
raise NotAchievedException("ACK not targetted at correct system want=%u got=%u" %
|
|
(mav.mav.srcSystem, m.target_system))
|
|
if m.target_component != target_component:
|
|
raise NotAchievedException("ACK not targetted at correct component")
|
|
if m.mission_type != mission_type:
|
|
raise NotAchievedException("Unexpected mission type %u want=%u" %
|
|
(m.mission_type, mission_type))
|
|
if m.type != want_type:
|
|
raise NotAchievedException("Expected ack type got %u got %u" %
|
|
(want_type, m.type))
|
|
|
|
def test_gcs_rally(self):
|
|
target_system = 1
|
|
target_component = 1
|
|
self.mavproxy.send('rally clear\n')
|
|
self.delay_sim_time(1)
|
|
if self.get_parameter("RALLY_TOTAL") != 0:
|
|
raise NotAchievedException("Failed to clear rally points")
|
|
|
|
old_srcSystem = self.mav.mav.srcSystem
|
|
|
|
# stop MAVProxy poking the autopilot:
|
|
self.mavproxy.send('module unload rally\n')
|
|
self.mavproxy.expect("Unloaded module rally")
|
|
self.mavproxy.send('module unload wp\n')
|
|
self.mavproxy.expect("Unloaded module wp")
|
|
try:
|
|
item1_lat = int(2.0000 *1e7)
|
|
items = [
|
|
self.mav.mav.mission_item_int_encode(
|
|
target_system,
|
|
target_component,
|
|
0, # seq
|
|
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
|
|
mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
|
|
0, # current
|
|
0, # autocontinue
|
|
0, # p1
|
|
0, # p2
|
|
0, # p3
|
|
0, # p4
|
|
int(1.0000 *1e7), # latitude
|
|
int(1.0000 *1e7), # longitude
|
|
31.0000, # altitude
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY),
|
|
self.mav.mav.mission_item_int_encode(
|
|
target_system,
|
|
target_component,
|
|
1, # seq
|
|
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
|
|
mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
|
|
0, # current
|
|
0, # autocontinue
|
|
0, # p1
|
|
0, # p2
|
|
0, # p3
|
|
0, # p4
|
|
item1_lat, # latitude
|
|
int(2.0000 *1e7), # longitude
|
|
32.0000, # altitude
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY),
|
|
self.mav.mav.mission_item_int_encode(
|
|
target_system,
|
|
target_component,
|
|
2, # seq
|
|
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
|
|
mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
|
|
0, # current
|
|
0, # autocontinue
|
|
0, # p1
|
|
0, # p2
|
|
0, # p3
|
|
0, # p4
|
|
int(3.0000 *1e7), # latitude
|
|
int(3.0000 *1e7), # longitude
|
|
33.0000, # altitude
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY),
|
|
]
|
|
self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
|
|
items)
|
|
downloaded = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
print("Got items (%s)" % str(items))
|
|
if len(downloaded) != len(items):
|
|
raise NotAchievedException("Did not download correct number of items want=%u got=%u" % (len(downloaded), len(items)))
|
|
|
|
rally_total = self.get_parameter("RALLY_TOTAL")
|
|
if rally_total != len(downloaded):
|
|
raise NotAchievedException("Unexpected rally point count: want=%u got=%u" % (len(items), rally_total))
|
|
|
|
self.progress("Pruning count by setting parameter (urgh)")
|
|
self.set_parameter("RALLY_TOTAL", 2)
|
|
downloaded = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
if len(downloaded) != 2:
|
|
raise NotAchievedException("Failed to prune rally points by setting parameter. want=%u got=%u" % (2, len(downloaded)))
|
|
|
|
self.progress("Uploading a third item using old protocol")
|
|
new_item2_lat = int(6.0 *1e7)
|
|
self.set_parameter("RALLY_TOTAL", 3)
|
|
self.mav.mav.rally_point_send(target_system,
|
|
target_component,
|
|
2, # sequence number
|
|
3, # total count
|
|
new_item2_lat,
|
|
int(7.0 *1e7),
|
|
15,
|
|
0, # "break" alt?!
|
|
0, # "land dir"
|
|
0) # flags
|
|
downloaded = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
if len(downloaded) != 3:
|
|
raise NotAchievedException("resetting rally point count didn't change items returned")
|
|
if downloaded[2].x != new_item2_lat:
|
|
raise NotAchievedException("Bad lattitude in downloaded item: want=%u got=%u" % (new_item2_lat, downloaded[2].x))
|
|
|
|
self.progress("Grabbing original item 1 using original protocol")
|
|
self.mav.mav.rally_fetch_point_send(target_system,
|
|
target_component,
|
|
1)
|
|
m = self.mav.recv_match(type="RALLY_POINT", blocking=True, timeout=1)
|
|
if m.target_system != 255:
|
|
raise NotAchievedException("Bad target_system on received rally point (want=%u got=%u)" % (255, m.target_system))
|
|
if m.target_component != 250: # autotest's component ID
|
|
raise NotAchievedException("Bad target_component on received rally point")
|
|
if m.lat != item1_lat:
|
|
raise NotAchievedException("Bad latitude on received rally point")
|
|
|
|
self.start_subtest("Test upload lockout and timeout")
|
|
self.progress("Starting upload from normal sysid")
|
|
self.mav.mav.mission_count_send(target_system,
|
|
target_component,
|
|
len(items),
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.drain_mav() # throw away requests for items
|
|
self.mav.mav.srcSystem = 243
|
|
|
|
self.progress("Attempting upload from sysid=%u" %
|
|
(self.mav.mav.srcSystem,))
|
|
self.mav.mav.mission_count_send(target_system,
|
|
target_component,
|
|
len(items),
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
|
|
want_type=mavutil.mavlink.MAV_MISSION_DENIED)
|
|
|
|
self.progress("Attempting download from sysid=%u" %
|
|
(self.mav.mav.srcSystem,))
|
|
self.mav.mav.mission_request_list_send(target_system,
|
|
target_component,
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
|
|
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
|
|
want_type=mavutil.mavlink.MAV_MISSION_DENIED)
|
|
|
|
# wait for the upload from sysid=1 to time out:
|
|
self.mavproxy.expect("upload timeout")
|
|
|
|
self.progress("Now trying to upload empty mission after timeout")
|
|
self.mav.mav.mission_count_send(target_system,
|
|
target_component,
|
|
0,
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
|
|
self.drain_mav()
|
|
self.start_subtest("Check rally upload/download across separate links")
|
|
self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
|
|
items)
|
|
self.progress("ensure a mavlink1 connection can't do anything useful with new item types")
|
|
mav2 = mavutil.mavlink_connection("tcp:localhost:5763",
|
|
robust_parsing=True,
|
|
source_system = 7,
|
|
source_component=7)
|
|
mav2.mav.mission_request_list_send(target_system,
|
|
target_component,
|
|
mission_type=mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
# so this looks a bit odd; the other end isn't sending
|
|
# mavlink2 so can't fill in the extension here.
|
|
self.assert_receive_mission_ack(
|
|
mavutil.mavlink.MAV_MISSION_TYPE_MISSION,
|
|
want_type=mavutil.mavlink.MAV_MISSION_UNSUPPORTED,
|
|
mav=mav2,
|
|
)
|
|
self.set_parameter("SERIAL2_PROTOCOL", 2)
|
|
expected_count = 3
|
|
self.progress("Assert mission count on new link")
|
|
self.assert_mission_count_on_link(mav2, expected_count, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.progress("Assert mission count on original link")
|
|
self.assert_mission_count_on_link(self.mav, expected_count, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.progress("Get first item on new link")
|
|
m2 = self.get_mission_item_int_on_link(2, mav2, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.progress("Get first item on original link")
|
|
m = self.get_mission_item_int_on_link(2, self.mav, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
if m2.x != m.x:
|
|
raise NotAchievedException("mission items do not match (%d vs %d)" % (m2.x, m.x))
|
|
self.get_mission_item_on_link(2, self.mav, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
# ensure we get nacks for bad mission item requests:
|
|
self.mav.mav.mission_request_send(target_system,
|
|
target_component,
|
|
65,
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.assert_receive_mission_ack(
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
|
|
want_type=mavutil.mavlink.MAV_MISSION_INVALID_SEQUENCE,
|
|
)
|
|
self.mav.mav.mission_request_int_send(target_system,
|
|
target_component,
|
|
65,
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.assert_receive_mission_ack(
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
|
|
want_type=mavutil.mavlink.MAV_MISSION_INVALID_SEQUENCE,
|
|
)
|
|
|
|
self.start_subtest("Should enforce items come from correct GCS")
|
|
self.mav.mav.mission_count_send(target_system,
|
|
target_component,
|
|
1,
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 0)
|
|
self.progress("Attempting to upload from bad sysid")
|
|
old_sysid = self.mav.mav.srcSystem
|
|
self.mav.mav.srcSystem = 17
|
|
items[0].pack(self.mav.mav)
|
|
self.mav.mav.send(items[0])
|
|
self.mav.mav.srcSystem = old_sysid
|
|
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
|
|
want_type=mavutil.mavlink.MAV_MISSION_DENIED,
|
|
target_system=17)
|
|
self.progress("Sending from correct sysid")
|
|
items[0].pack(self.mav.mav)
|
|
self.mav.mav.send(items[0])
|
|
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
|
|
self.drain_mav()
|
|
self.drain_all_pexpects()
|
|
|
|
self.start_subtest("Attempt to send item on different link to that which we are sending requests on")
|
|
self.progress("Sending count")
|
|
self.mav.mav.mission_count_send(target_system,
|
|
target_component,
|
|
2,
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 0)
|
|
old_mav2_system = mav2.mav.srcSystem
|
|
old_mav2_component = mav2.mav.srcComponent
|
|
mav2.mav.srcSystem = self.mav.mav.srcSystem
|
|
mav2.mav.srcComponent = self.mav.mav.srcComponent
|
|
self.progress("Sending item on second link")
|
|
# note that the routing table in ArduPilot now will say
|
|
# this sysid/compid is on both links which may cause
|
|
# weirdness...
|
|
items[0].pack(mav2.mav)
|
|
mav2.mav.send(items[0])
|
|
mav2.mav.srcSystem = old_mav2_system
|
|
mav2.mav.srcComponent = old_mav2_component
|
|
# we continue to receive requests on the original link:
|
|
m = self.mav.recv_match(type='MISSION_REQUEST',
|
|
blocking=True,
|
|
timeout=1)
|
|
if m is None:
|
|
raise NotAchievedException("Did not get mission request")
|
|
if m.mission_type != mavutil.mavlink.MAV_MISSION_TYPE_RALLY:
|
|
raise NotAchievedException("Mission request of incorrect type")
|
|
if m.seq != 1:
|
|
raise NotAchievedException("Unexpected sequence number (expected=%u got=%u)" % (1, m.seq))
|
|
items[1].pack(self.mav.mav)
|
|
self.mav.mav.send(items[1])
|
|
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
|
|
self.drain_mav()
|
|
self.drain_all_pexpects()
|
|
|
|
self.start_subtest("Upload mission and rally points at same time")
|
|
self.progress("Sending rally count")
|
|
self.mav.mav.mission_count_send(target_system,
|
|
target_component,
|
|
3,
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 0)
|
|
|
|
self.progress("Sending wp count")
|
|
self.mav.mav.mission_count_send(target_system,
|
|
target_component,
|
|
3,
|
|
mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
|
|
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_MISSION, 0)
|
|
|
|
self.progress("Answering request for mission item 0")
|
|
self.mav.mav.mission_item_int_send(
|
|
target_system,
|
|
target_component,
|
|
0, # seq
|
|
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
|
|
mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
|
|
0, # current
|
|
0, # autocontinue
|
|
0, # p1
|
|
0, # p2
|
|
0, # p3
|
|
0, # p4
|
|
int(1.1000 *1e7), # latitude
|
|
int(1.2000 *1e7), # longitude
|
|
321.0000, # altitude
|
|
mavutil.mavlink.MAV_MISSION_TYPE_MISSION),
|
|
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_MISSION, 1)
|
|
|
|
self.progress("Answering request for rally point 0")
|
|
items[0].pack(self.mav.mav)
|
|
self.mav.mav.send(items[0])
|
|
self.progress("Expecting request for rally item 1")
|
|
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 1)
|
|
self.progress("Answering request for rally point 1")
|
|
items[1].pack(self.mav.mav)
|
|
self.mav.mav.send(items[1])
|
|
self.progress("Expecting request for rally item 2")
|
|
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 2)
|
|
|
|
self.progress("Answering request for rally point 2")
|
|
items[2].pack(self.mav.mav)
|
|
self.mav.mav.send(items[2])
|
|
self.progress("Expecting mission ack for rally")
|
|
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
|
|
self.progress("Answering request for waypoints item 1")
|
|
self.mav.mav.mission_item_int_send(
|
|
target_system,
|
|
target_component,
|
|
1, # seq
|
|
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
|
|
mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
|
|
0, # current
|
|
0, # autocontinue
|
|
0, # p1
|
|
0, # p2
|
|
0, # p3
|
|
0, # p4
|
|
int(1.1000 *1e7), # latitude
|
|
int(1.2000 *1e7), # longitude
|
|
321.0000, # altitude
|
|
mavutil.mavlink.MAV_MISSION_TYPE_MISSION),
|
|
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_MISSION, 2)
|
|
|
|
self.progress("Answering request for waypoints item 2")
|
|
self.mav.mav.mission_item_int_send(
|
|
target_system,
|
|
target_component,
|
|
2, # seq
|
|
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
|
|
mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
|
|
0, # current
|
|
0, # autocontinue
|
|
0, # p1
|
|
0, # p2
|
|
0, # p3
|
|
0, # p4
|
|
int(1.1000 *1e7), # latitude
|
|
int(1.2000 *1e7), # longitude
|
|
321.0000, # altitude
|
|
mavutil.mavlink.MAV_MISSION_TYPE_MISSION),
|
|
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
|
|
|
|
self.start_subtest("Test write-partial-list")
|
|
self.progress("Clearing rally points using count-send")
|
|
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
|
|
target_system=target_system,
|
|
target_component=target_component)
|
|
self.progress("Should not be able to set items completely past the waypoint count")
|
|
self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
|
|
items)
|
|
self.mav.mav.mission_write_partial_list_send(
|
|
target_system,
|
|
target_component,
|
|
17,
|
|
20,
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
|
|
want_type=mavutil.mavlink.MAV_MISSION_ERROR)
|
|
|
|
self.progress("Should not be able to set items overlapping the waypoint count")
|
|
self.mav.mav.mission_write_partial_list_send(
|
|
target_system,
|
|
target_component,
|
|
0,
|
|
20,
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
|
|
want_type=mavutil.mavlink.MAV_MISSION_ERROR)
|
|
|
|
self.progress("try to overwrite items 1 and 2")
|
|
self.mav.mav.mission_write_partial_list_send(
|
|
target_system,
|
|
target_component,
|
|
1,
|
|
2,
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 1)
|
|
self.progress("Try shoving up an incorrectly sequenced item")
|
|
self.mav.mav.mission_item_int_send(
|
|
target_system,
|
|
target_component,
|
|
0, # seq
|
|
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
|
|
mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
|
|
0, # current
|
|
0, # autocontinue
|
|
0, # p1
|
|
0, # p2
|
|
0, # p3
|
|
0, # p4
|
|
int(1.1000 *1e7), # latitude
|
|
int(1.2000 *1e7), # longitude
|
|
321.0000, # altitude
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY),
|
|
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
|
|
want_type=mavutil.mavlink.MAV_MISSION_INVALID_SEQUENCE)
|
|
|
|
self.progress("Try shoving up an incorrectly sequenced item (but within band)")
|
|
self.mav.mav.mission_item_int_send(
|
|
target_system,
|
|
target_component,
|
|
2, # seq
|
|
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
|
|
mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
|
|
0, # current
|
|
0, # autocontinue
|
|
0, # p1
|
|
0, # p2
|
|
0, # p3
|
|
0, # p4
|
|
int(1.1000 *1e7), # latitude
|
|
int(1.2000 *1e7), # longitude
|
|
321.0000, # altitude
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY),
|
|
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
|
|
want_type=mavutil.mavlink.MAV_MISSION_INVALID_SEQUENCE)
|
|
|
|
self.progress("Now provide correct item")
|
|
item1_latitude = int(1.2345*1e7)
|
|
self.mav.mav.mission_item_int_send(
|
|
target_system,
|
|
target_component,
|
|
1, # seq
|
|
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
|
|
mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
|
|
0, # current
|
|
0, # autocontinue
|
|
0, # p1
|
|
0, # p2
|
|
0, # p3
|
|
0, # p4
|
|
item1_latitude, # latitude
|
|
int(1.2000 *1e7), # longitude
|
|
321.0000, # altitude
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY),
|
|
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 2)
|
|
self.progress("Answering request for rally point 2")
|
|
items[2].pack(self.mav.mav)
|
|
self.mav.mav.send(items[2])
|
|
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.progress("TODO: ensure partial mission write was good")
|
|
|
|
self.start_subtest("clear mission types")
|
|
self.assert_mission_count_on_link(self.mav, 3, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.assert_mission_count_on_link(self.mav, 3, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
|
|
self.mav.mav.mission_clear_all_send(target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.assert_mission_count_on_link(self.mav, 0, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.assert_mission_count_on_link(self.mav, 3, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
|
|
self.mav.mav.mission_clear_all_send(target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
|
|
self.assert_mission_count_on_link(self.mav, 0, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.assert_mission_count_on_link(self.mav, 0, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
|
|
|
|
self.start_subtest("try sending out-of-range counts")
|
|
self.mav.mav.mission_count_send(target_system,
|
|
target_component,
|
|
1,
|
|
230)
|
|
self.assert_receive_mission_ack(230,
|
|
want_type=mavutil.mavlink.MAV_MISSION_UNSUPPORTED)
|
|
self.mav.mav.mission_count_send(target_system,
|
|
target_component,
|
|
16000,
|
|
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
|
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
|
|
want_type=mavutil.mavlink.MAV_MISSION_NO_SPACE)
|
|
|
|
except Exception as e:
|
|
self.progress("Received exception (%s)" % self.get_exception_stacktrace(e))
|
|
self.mav.mav.srcSystem = old_srcSystem
|
|
raise e
|
|
self.mavproxy.send('module load rally\n')
|
|
self.mavproxy.expect("Loaded module rally")
|
|
self.mavproxy.send('module load wp\n')
|
|
self.mavproxy.expect("Loaded module wp")
|
|
|
|
def wait_distance_to_home(self, distance, accuracy=5):
|
|
tstart = self.get_sim_time()
|
|
timeout = 30
|
|
while True:
|
|
if self.get_sim_time_cached() - tstart > timeout:
|
|
raise AutoTestTimeoutException("Failed to get home")
|
|
self.mav.recv_match(type='VFR_HUD', blocking=True)
|
|
self.progress("Dist from home: %.02f" % self.distance_to_home(use_cached_home=True))
|
|
if abs(distance-self.distance_to_home(use_cached_home=True)) <= accuracy:
|
|
break
|
|
|
|
def drive_smartrtl(self):
|
|
self.change_mode("STEERING")
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle()
|
|
# drive two sides of a square, make sure we don't go back through
|
|
# the middle of the square
|
|
self.progress("Driving North")
|
|
self.reach_heading_manual(0)
|
|
self.set_rc(3, 2000)
|
|
self.delay_sim_time(5)
|
|
self.set_rc(3, 1000)
|
|
self.wait_groundspeed(0, 1)
|
|
loc = self.mav.location()
|
|
self.progress("Driving East")
|
|
self.set_rc(3, 2000)
|
|
self.reach_heading_manual(90)
|
|
self.set_rc(3, 2000)
|
|
self.delay_sim_time(5)
|
|
self.set_rc(3, 1000)
|
|
|
|
self.progress("Entering smartrtl")
|
|
self.change_mode("SMART_RTL")
|
|
|
|
self.progress("Ensure we go via intermediate point")
|
|
self.wait_distance_to_location(loc, 0, 5)
|
|
|
|
self.progress("Ensure we get home")
|
|
self.wait_distance_to_home(5, accuracy=2)
|
|
|
|
self.disarm_vehicle()
|
|
|
|
def test_motor_test(self):
|
|
'''AKA run-rover-run'''
|
|
magic_throttle_value = 1812
|
|
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_MOTOR_TEST,
|
|
1, # p1 - motor instance
|
|
mavutil.mavlink.MOTOR_TEST_THROTTLE_PWM, # p2 - throttle type
|
|
magic_throttle_value, # p3 - throttle
|
|
5, # p4 - timeout
|
|
1, # p5 - motor count
|
|
0, # p6 - test order (see MOTOR_TEST_ORDER)
|
|
0, # p7
|
|
)
|
|
self.mav.motors_armed_wait()
|
|
self.progress("Waiting for magic throttle value")
|
|
self.wait_servo_channel_value(3, magic_throttle_value)
|
|
self.wait_servo_channel_value(3, self.get_parameter("RC3_TRIM", 5), timeout=10)
|
|
self.mav.motors_disarmed_wait()
|
|
|
|
def tests(self):
|
|
'''return list of all tests'''
|
|
ret = super(AutoTestRover, self).tests()
|
|
|
|
ret.extend([
|
|
("MAVProxy_SetModeUsingSwitch",
|
|
"Set modes via mavproxy switch",
|
|
self.test_setting_modes_via_mavproxy_switch),
|
|
|
|
("MAVProxy_SetModeUsingMode",
|
|
"Set modes via mavproxy mode command",
|
|
self.test_setting_modes_via_mavproxy_mode_command),
|
|
|
|
("ModeSwitch",
|
|
"Set modes via modeswitch",
|
|
self.test_setting_modes_via_modeswitch),
|
|
|
|
("AuxModeSwitch",
|
|
"Set modes via auxswitches",
|
|
self.test_setting_modes_via_auxswitches),
|
|
|
|
("DriveRTL",
|
|
"Drive an RTL Mission", self.drive_rtl_mission),
|
|
|
|
("SmartRTL",
|
|
"Test SmartRTL",
|
|
self.drive_smartrtl),
|
|
|
|
("DriveSquare",
|
|
"Learn/Drive Square with Ch7 option",
|
|
self.drive_square),
|
|
|
|
("DriveMission",
|
|
"Drive Mission %s" % "rover1.txt",
|
|
lambda: self.drive_mission("rover1.txt")),
|
|
|
|
# disabled due to frequent failures in travis. This test needs re-writing
|
|
# ("Drive Brake", self.drive_brake),
|
|
|
|
("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),
|
|
|
|
("MAVProxy_DO_SET_MODE",
|
|
"Set mode via MAV_COMMAND_DO_SET_MODE with MAVProxy",
|
|
self.test_mavproxy_do_set_mode_via_command_long),
|
|
|
|
("ServoRelayEvents",
|
|
"Test ServoRelayEvents",
|
|
self.test_servorelayevents),
|
|
|
|
("RCOverrides", "Test RC overrides", self.test_rc_overrides),
|
|
|
|
("RCOverridesCancel", "Test RC overrides Cancel", self.test_rc_override_cancel),
|
|
|
|
("MANUAL_CONTROL", "Test mavlink MANUAL_CONTROL", self.test_manual_control),
|
|
|
|
("Sprayer", "Test Sprayer", self.test_sprayer),
|
|
|
|
("AC_Avoidance",
|
|
"Test AC Avoidance switch",
|
|
self.drive_fence_ac_avoidance),
|
|
|
|
("CameraMission",
|
|
"Test Camera Mission Items",
|
|
self.test_camera_mission_items),
|
|
|
|
# Gripper test
|
|
("Gripper",
|
|
"Test gripper",
|
|
self.test_gripper),
|
|
|
|
("GripperMission",
|
|
"Test Gripper Mission Items",
|
|
self.test_gripper_mission),
|
|
|
|
("SET_MESSAGE_INTERVAL",
|
|
"Test MAV_CMD_SET_MESSAGE_INTERVAL",
|
|
self.test_set_message_interval),
|
|
|
|
("REQUEST_MESSAGE",
|
|
"Test MAV_CMD_REQUEST_MESSAGE",
|
|
self.test_request_message),
|
|
|
|
("SYSID_ENFORCE",
|
|
"Test enforcement of SYSID_MYGCS",
|
|
self.test_sysid_enforce),
|
|
|
|
("Button",
|
|
"Test Buttons",
|
|
self.test_button),
|
|
|
|
("Rally",
|
|
"Test Rally Points",
|
|
self.test_rally_points),
|
|
|
|
("Offboard",
|
|
"Test Offboard Control",
|
|
self.test_offboard),
|
|
|
|
("GCSFence",
|
|
"Upload and download of fence",
|
|
self.test_gcs_fence),
|
|
|
|
("GCSRally",
|
|
"Upload and download of rally",
|
|
self.test_gcs_rally),
|
|
|
|
("MotorTest",
|
|
"Motor Test triggered via mavlink",
|
|
self.test_motor_test),
|
|
|
|
("DataFlashOverMAVLink",
|
|
"Test DataFlash over MAVLink",
|
|
self.test_dataflash_over_mavlink),
|
|
|
|
("DataFlashSITL",
|
|
"Test DataFlash SITL backend",
|
|
self.test_dataflash_sitl),
|
|
|
|
("DownLoadLogs", "Download logs", lambda:
|
|
self.log_download(
|
|
self.buildlogs_path("APMrover2-log.bin"),
|
|
upload_logs=len(self.fail_list) > 0)),
|
|
])
|
|
return ret
|
|
|
|
def rc_defaults(self):
|
|
ret = super(AutoTestRover, self).rc_defaults()
|
|
ret[3] = 1500
|
|
ret[8] = 1800
|
|
return ret
|
|
|
|
def default_mode(self):
|
|
return 'MANUAL'
|