mirror of https://github.com/ArduPilot/ardupilot
887 lines
32 KiB
Python
887 lines
32 KiB
Python
#!/usr/bin/env python
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# Fly ArduPlane in SITL
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from __future__ import print_function
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import math
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import os
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import pexpect
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from pymavlink import quaternion
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from pymavlink import mavutil
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from pysim import util
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from common import AutoTest
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from common import AutoTestTimeoutException
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from common import NotAchievedException
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from common import PreconditionFailedException
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# get location of scripts
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testdir = os.path.dirname(os.path.realpath(__file__))
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SITL_START_LOCATION = mavutil.location(-35.362938, 149.165085, 585, 354)
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WIND = "0,180,0.2" # speed,direction,variance
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class AutoTestPlane(AutoTest):
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def log_name(self):
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return "ArduPlane"
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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 defaults_filepath(self):
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return os.path.join(testdir, 'default_params/plane-jsbsim.parm')
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def default_frame(self):
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return "plane-elevrev"
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def apply_defaultfile_parameters(self):
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# plane passes in a defaults_file in place of applying
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# parameters afterwards.
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pass
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def is_plane(self):
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return True
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def get_rudder_channel(self):
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return int(self.get_parameter("RCMAP_YAW"))
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def get_disarm_delay(self):
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return int(self.get_parameter("LAND_DISARMDELAY"))
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def set_autodisarm_delay(self, delay):
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self.set_parameter("LAND_DISARMDELAY", delay)
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def takeoff(self):
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"""Takeoff get to 30m altitude."""
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self.mavproxy.send('switch 4\n')
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self.wait_mode('FBWA')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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# some rudder to counteract the prop torque
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self.set_rc(4, 1700)
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# some up elevator to keep the tail down
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self.set_rc(2, 1200)
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# get it moving a bit first
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self.set_rc(3, 1300)
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self.wait_groundspeed(6, 100)
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# a bit faster again, straighten rudder
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self.set_rc(3, 1600)
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self.set_rc(4, 1500)
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self.wait_groundspeed(12, 100)
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# hit the gas harder now, and give it some more elevator
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self.set_rc(2, 1100)
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self.set_rc(3, 2000)
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# gain a bit of altitude
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self.wait_altitude(self.homeloc.alt+150,
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self.homeloc.alt+180,
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timeout=30)
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# level off
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self.set_rc(2, 1500)
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self.progress("TAKEOFF COMPLETE")
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def fly_left_circuit(self):
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"""Fly a left circuit, 200m on a side."""
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self.mavproxy.send('switch 4\n')
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self.wait_mode('FBWA')
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self.set_rc(3, 2000)
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self.wait_level_flight()
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self.progress("Flying left circuit")
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# do 4 turns
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for i in range(0, 4):
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# hard left
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self.progress("Starting turn %u" % i)
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self.set_rc(1, 1000)
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self.wait_heading(270 - (90*i), accuracy=10)
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self.set_rc(1, 1500)
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self.progress("Starting leg %u" % i)
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self.wait_distance(100, accuracy=20)
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self.progress("Circuit complete")
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def fly_RTL(self):
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"""Fly to home."""
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self.progress("Flying home in RTL")
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self.mavproxy.send('switch 2\n')
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self.wait_mode('RTL')
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self.wait_location(self.homeloc,
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accuracy=120,
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target_altitude=self.homeloc.alt+100,
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height_accuracy=20,
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timeout=180)
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self.progress("RTL Complete")
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def fly_LOITER(self, num_circles=4):
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"""Loiter where we are."""
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self.progress("Testing LOITER for %u turns" % num_circles)
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self.mavproxy.send('loiter\n')
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self.wait_mode('LOITER')
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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initial_alt = m.alt
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self.progress("Initial altitude %u\n" % initial_alt)
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while num_circles > 0:
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self.wait_heading(0, accuracy=10, timeout=60)
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self.wait_heading(180, accuracy=10, timeout=60)
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num_circles -= 1
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self.progress("Loiter %u circles left" % num_circles)
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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final_alt = m.alt
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self.progress("Final altitude %u initial %u\n" %
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(final_alt, initial_alt))
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self.mavproxy.send('mode FBWA\n')
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self.wait_mode('FBWA')
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if abs(final_alt - initial_alt) > 20:
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raise NotAchievedException("Failed to maintain altitude")
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self.progress("Completed Loiter OK")
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def fly_CIRCLE(self, num_circles=1):
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"""Circle where we are."""
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self.progress("Testing CIRCLE for %u turns" % num_circles)
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self.mavproxy.send('mode CIRCLE\n')
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self.wait_mode('CIRCLE')
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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initial_alt = m.alt
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self.progress("Initial altitude %u\n" % initial_alt)
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while num_circles > 0:
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self.wait_heading(0, accuracy=10, timeout=60)
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self.wait_heading(180, accuracy=10, timeout=60)
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num_circles -= 1
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self.progress("CIRCLE %u circles left" % num_circles)
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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final_alt = m.alt
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self.progress("Final altitude %u initial %u\n" %
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(final_alt, initial_alt))
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self.mavproxy.send('mode FBWA\n')
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self.wait_mode('FBWA')
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if abs(final_alt - initial_alt) > 20:
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raise NotAchievedException("Failed to maintain altitude")
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self.progress("Completed CIRCLE OK")
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def wait_level_flight(self, accuracy=5, timeout=30):
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"""Wait for level flight."""
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tstart = self.get_sim_time()
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self.progress("Waiting for level flight")
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self.set_rc(1, 1500)
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self.set_rc(2, 1500)
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self.set_rc(4, 1500)
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while self.get_sim_time_cached() < tstart + timeout:
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m = self.mav.recv_match(type='ATTITUDE', blocking=True)
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roll = math.degrees(m.roll)
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pitch = math.degrees(m.pitch)
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self.progress("Roll=%.1f Pitch=%.1f" % (roll, pitch))
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if math.fabs(roll) <= accuracy and math.fabs(pitch) <= accuracy:
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self.progress("Attained level flight")
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return
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raise NotAchievedException("Failed to attain level flight")
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def change_altitude(self, altitude, accuracy=30):
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"""Get to a given altitude."""
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self.mavproxy.send('mode FBWA\n')
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self.wait_mode('FBWA')
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alt_error = self.mav.messages['VFR_HUD'].alt - altitude
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if alt_error > 0:
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self.set_rc(2, 2000)
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else:
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self.set_rc(2, 1000)
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self.wait_altitude(altitude-accuracy/2, altitude+accuracy/2)
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self.set_rc(2, 1500)
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self.progress("Reached target altitude at %u" %
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self.mav.messages['VFR_HUD'].alt)
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return self.wait_level_flight()
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def axial_left_roll(self, count=1):
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"""Fly a left axial roll."""
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# full throttle!
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self.set_rc(3, 2000)
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self.change_altitude(self.homeloc.alt+300)
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# fly the roll in manual
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self.mavproxy.send('switch 6\n')
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self.wait_mode('MANUAL')
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while count > 0:
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self.progress("Starting roll")
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self.set_rc(1, 1000)
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try:
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self.wait_roll(-150, accuracy=90)
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self.wait_roll(150, accuracy=90)
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self.wait_roll(0, accuracy=90)
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except Exception as e:
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self.set_rc(1, 1500)
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raise e
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count -= 1
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# back to FBWA
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self.set_rc(1, 1500)
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self.mavproxy.send('switch 4\n')
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self.wait_mode('FBWA')
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self.set_rc(3, 1700)
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return self.wait_level_flight()
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def inside_loop(self, count=1):
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"""Fly a inside loop."""
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# full throttle!
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self.set_rc(3, 2000)
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self.change_altitude(self.homeloc.alt+300)
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# fly the loop in manual
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self.mavproxy.send('switch 6\n')
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self.wait_mode('MANUAL')
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while count > 0:
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self.progress("Starting loop")
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self.set_rc(2, 1000)
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self.wait_pitch(-60, accuracy=20)
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self.wait_pitch(0, accuracy=20)
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count -= 1
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# back to FBWA
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self.set_rc(2, 1500)
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self.mavproxy.send('switch 4\n')
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self.wait_mode('FBWA')
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self.set_rc(3, 1700)
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return self.wait_level_flight()
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def set_attitude_target(self, tolerance=10):
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"""Test setting of attitude target in guided mode."""
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self.change_mode("GUIDED")
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# self.set_parameter("STALL_PREVENTION", 0)
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state_roll_over = "roll-over"
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state_stabilize_roll = "stabilize-roll"
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state_hold = "hold"
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state_roll_back = "roll-back"
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state_done = "done"
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tstart = self.get_sim_time()
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try:
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state = state_roll_over
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while state != state_done:
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m = self.mav.recv_match(type='ATTITUDE',
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blocking=True,
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timeout=0.1)
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now = self.get_sim_time_cached()
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if now - tstart > 20:
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raise AutoTestTimeoutException("Manuevers not completed")
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if m is None:
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continue
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r = math.degrees(m.roll)
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if state == state_roll_over:
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target_roll_degrees = 60
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if abs(r - target_roll_degrees) < tolerance:
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state = state_stabilize_roll
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stabilize_start = now
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elif state == state_stabilize_roll:
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# just give it a little time to sort it self out
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if now - stabilize_start > 2:
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state = state_hold
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hold_start = now
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elif state == state_hold:
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target_roll_degrees = 60
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if now - hold_start > tolerance:
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state = state_roll_back
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if abs(r - target_roll_degrees) > tolerance:
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raise NotAchievedException("Failed to hold attitude")
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elif state == state_roll_back:
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target_roll_degrees = 0
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if abs(r - target_roll_degrees) < tolerance:
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state = state_done
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else:
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raise ValueError("Unknown state %s" % str(state))
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m_nav = self.mav.messages['NAV_CONTROLLER_OUTPUT']
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self.progress("%s Roll: %f desired=%f set=%f" %
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(state, r, m_nav.nav_roll, target_roll_degrees))
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time_boot_millis = 0 # FIXME
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target_system = 1 # FIXME
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target_component = 1 # FIXME
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type_mask = 0b10000001 ^ 0xFF # FIXME
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# attitude in radians:
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q = quaternion.Quaternion([math.radians(target_roll_degrees),
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0,
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0])
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roll_rate_radians = 0.5
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pitch_rate_radians = 0
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yaw_rate_radians = 0
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thrust = 1.0
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self.mav.mav.set_attitude_target_send(time_boot_millis,
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target_system,
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target_component,
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type_mask,
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q,
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roll_rate_radians,
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pitch_rate_radians,
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yaw_rate_radians,
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thrust)
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except Exception as e:
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self.mavproxy.send('mode FBWA\n')
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self.wait_mode('FBWA')
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self.set_rc(3, 1700)
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raise e
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# back to FBWA
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self.mavproxy.send('mode FBWA\n')
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self.wait_mode('FBWA')
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self.set_rc(3, 1700)
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self.wait_level_flight()
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def test_stabilize(self, count=1):
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"""Fly stabilize mode."""
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# full throttle!
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self.set_rc(3, 2000)
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self.set_rc(2, 1300)
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self.change_altitude(self.homeloc.alt+300)
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self.set_rc(2, 1500)
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self.mavproxy.send("mode STABILIZE\n")
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self.wait_mode('STABILIZE')
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while count > 0:
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self.progress("Starting roll")
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self.set_rc(1, 2000)
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self.wait_roll(-150, accuracy=90)
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self.wait_roll(150, accuracy=90)
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self.wait_roll(0, accuracy=90)
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count -= 1
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self.set_rc(1, 1500)
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self.wait_roll(0, accuracy=5)
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# back to FBWA
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self.mavproxy.send('mode FBWA\n')
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self.wait_mode('FBWA')
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self.set_rc(3, 1700)
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return self.wait_level_flight()
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def test_acro(self, count=1):
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"""Fly ACRO mode."""
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# full throttle!
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self.set_rc(3, 2000)
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self.set_rc(2, 1300)
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self.change_altitude(self.homeloc.alt+300)
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self.set_rc(2, 1500)
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self.mavproxy.send("mode ACRO\n")
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self.wait_mode('ACRO')
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while count > 0:
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self.progress("Starting roll")
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self.set_rc(1, 1000)
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self.wait_roll(-150, accuracy=90)
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self.wait_roll(150, accuracy=90)
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self.wait_roll(0, accuracy=90)
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count -= 1
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self.set_rc(1, 1500)
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# back to FBWA
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self.mavproxy.send('mode FBWA\n')
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self.wait_mode('FBWA')
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self.wait_level_flight()
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self.mavproxy.send("mode ACRO\n")
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self.wait_mode('ACRO')
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count = 2
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while count > 0:
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self.progress("Starting loop")
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self.set_rc(2, 1000)
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self.wait_pitch(-60, accuracy=20)
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self.wait_pitch(0, accuracy=20)
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count -= 1
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self.set_rc(2, 1500)
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# back to FBWA
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self.mavproxy.send('mode FBWA\n')
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self.wait_mode('FBWA')
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self.set_rc(3, 1700)
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return self.wait_level_flight()
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def test_FBWB(self, mode='FBWB'):
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"""Fly FBWB or CRUISE mode."""
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self.mavproxy.send("mode %s\n" % mode)
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self.wait_mode(mode)
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self.set_rc(3, 1700)
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self.set_rc(2, 1500)
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# lock in the altitude by asking for an altitude change then releasing
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self.set_rc(2, 1000)
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self.wait_distance(50, accuracy=20)
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self.set_rc(2, 1500)
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self.wait_distance(50, accuracy=20)
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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initial_alt = m.alt
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self.progress("Initial altitude %u\n" % initial_alt)
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self.progress("Flying right circuit")
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# do 4 turns
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for i in range(0, 4):
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# hard left
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self.progress("Starting turn %u" % i)
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self.set_rc(1, 1800)
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try:
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self.wait_heading(0 + (90*i), accuracy=20, timeout=60)
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except Exception as e:
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self.set_rc(1, 1500)
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raise e
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self.set_rc(1, 1500)
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self.progress("Starting leg %u" % i)
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self.wait_distance(100, accuracy=20)
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self.progress("Circuit complete")
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self.progress("Flying rudder left circuit")
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# do 4 turns
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for i in range(0, 4):
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# hard left
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self.progress("Starting turn %u" % i)
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self.set_rc(4, 1900)
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try:
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self.wait_heading(360 - (90*i), accuracy=20, timeout=60)
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except Exception as e:
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self.set_rc(4, 1500)
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raise e
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self.set_rc(4, 1500)
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self.progress("Starting leg %u" % i)
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self.wait_distance(100, accuracy=20)
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self.progress("Circuit complete")
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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final_alt = m.alt
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self.progress("Final altitude %u initial %u\n" %
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(final_alt, initial_alt))
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# back to FBWA
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self.mavproxy.send('mode FBWA\n')
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self.wait_mode('FBWA')
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if abs(final_alt - initial_alt) > 20:
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raise NotAchievedException("Failed to maintain altitude")
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return self.wait_level_flight()
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def fly_mission(self, filename):
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"""Fly a mission from a file."""
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self.progress("Flying mission %s" % filename)
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self.load_mission(filename)
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self.mavproxy.send('switch 1\n') # auto mode
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self.wait_mode('AUTO')
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self.wait_waypoint(1, 7, max_dist=60)
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self.wait_groundspeed(0, 0.5, timeout=60)
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self.mavproxy.expect("Auto disarmed")
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self.progress("Mission OK")
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def fly_flaps(self):
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"""Test flaps functionality."""
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filename = os.path.join(testdir, "flaps.txt")
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self.context_push()
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ex = None
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try:
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flaps_ch = 5
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servo_ch = 5
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self.set_parameter("SERVO%u_FUNCTION" % servo_ch, 3) # flapsauto
|
|
self.set_parameter("FLAP_IN_CHANNEL", flaps_ch)
|
|
self.set_parameter("LAND_FLAP_PERCNT", 50)
|
|
self.set_parameter("LOG_DISARMED", 1)
|
|
flaps_ch_min = 1000
|
|
flaps_ch_trim = 1500
|
|
flaps_ch_max = 2000
|
|
self.set_parameter("RC%u_MIN" % flaps_ch, flaps_ch_min)
|
|
self.set_parameter("RC%u_MAX" % flaps_ch, flaps_ch_max)
|
|
self.set_parameter("RC%u_TRIM" % flaps_ch, flaps_ch_trim)
|
|
|
|
servo_ch_min = 1200
|
|
servo_ch_trim = 1300
|
|
servo_ch_max = 1800
|
|
self.set_parameter("SERVO%u_MIN" % servo_ch, servo_ch_min)
|
|
self.set_parameter("SERVO%u_MAX" % servo_ch, servo_ch_max)
|
|
self.set_parameter("SERVO%u_TRIM" % servo_ch, servo_ch_trim)
|
|
|
|
self.progress("check flaps are not deployed")
|
|
self.set_rc(flaps_ch, flaps_ch_min)
|
|
self.wait_servo_channel_value(servo_ch, servo_ch_min)
|
|
self.progress("deploy the flaps")
|
|
self.set_rc(flaps_ch, flaps_ch_max)
|
|
tstart = self.get_sim_time()
|
|
self.wait_servo_channel_value(servo_ch, servo_ch_max)
|
|
tstop = self.get_sim_time_cached()
|
|
delta_time = tstop - tstart
|
|
delta_time_min = 0.5
|
|
delta_time_max = 1.5
|
|
if delta_time < delta_time_min or delta_time > delta_time_max:
|
|
raise NotAchievedException((
|
|
"Flaps Slew not working (%f seconds)" % (delta_time,)))
|
|
self.progress("undeploy flaps")
|
|
self.set_rc(flaps_ch, flaps_ch_min)
|
|
self.wait_servo_channel_value(servo_ch, servo_ch_min)
|
|
|
|
self.progress("Flying mission %s" % filename)
|
|
self.load_mission(filename)
|
|
self.mavproxy.send('wp set 1\n')
|
|
self.mavproxy.send('switch 1\n') # auto mode
|
|
self.wait_mode('AUTO')
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle()
|
|
tstart = self.get_sim_time_cached()
|
|
last_mission_current_msg = 0
|
|
last_seq = None
|
|
while self.armed():
|
|
m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
|
|
time_delta = (self.get_sim_time_cached() -
|
|
last_mission_current_msg)
|
|
if (time_delta > 1 or m.seq != last_seq):
|
|
dist = None
|
|
x = self.mav.messages.get("NAV_CONTROLLER_OUTPUT", None)
|
|
if x is not None:
|
|
dist = x.wp_dist
|
|
self.progress("MISSION_CURRENT.seq=%u (dist=%s)" %
|
|
(m.seq, str(dist)))
|
|
last_mission_current_msg = self.get_sim_time_cached()
|
|
last_seq = m.seq
|
|
# flaps should undeploy at the end
|
|
self.wait_servo_channel_value(servo_ch, servo_ch_min, timeout=30)
|
|
|
|
# do a short flight in FBWA, watching for flaps
|
|
# self.mavproxy.send('switch 4\n')
|
|
# self.wait_mode('FBWA')
|
|
# self.wait_seconds(10)
|
|
# self.mavproxy.send('switch 6\n')
|
|
# self.wait_mode('MANUAL')
|
|
# self.wait_seconds(10)
|
|
|
|
self.progress("Flaps OK")
|
|
except Exception as e:
|
|
ex = e
|
|
self.context_pop()
|
|
if ex:
|
|
if self.armed():
|
|
self.disarm_vehicle()
|
|
raise ex
|
|
|
|
def test_rc_relay(self):
|
|
'''test toggling channel 12 toggles relay'''
|
|
self.set_parameter("RC12_OPTION", 28) # Relay On/Off
|
|
self.set_rc(12, 1000)
|
|
self.reboot_sitl() # needed for RC12_OPTION to take effect
|
|
|
|
off = self.get_parameter("SIM_PIN_MASK")
|
|
if off:
|
|
raise PreconditionFailedException("SIM_MASK_PIN off")
|
|
|
|
# allow time for the RC library to register initial value:
|
|
self.delay_sim_time(1)
|
|
|
|
self.set_rc(12, 2000)
|
|
self.wait_heartbeat()
|
|
self.wait_heartbeat()
|
|
|
|
on = self.get_parameter("SIM_PIN_MASK")
|
|
if not on:
|
|
raise NotAchievedException("SIM_PIN_MASK doesn't reflect ON")
|
|
self.set_rc(12, 1000)
|
|
self.wait_heartbeat()
|
|
self.wait_heartbeat()
|
|
off = self.get_parameter("SIM_PIN_MASK")
|
|
if off:
|
|
raise NotAchievedException("SIM_PIN_MASK doesn't reflect OFF")
|
|
|
|
def test_rc_option_camera_trigger(self):
|
|
'''test toggling channel 12 takes picture'''
|
|
self.set_parameter("RC12_OPTION", 9) # CameraTrigger
|
|
self.reboot_sitl() # needed for RC12_OPTION to take effect
|
|
|
|
x = self.mav.messages.get("CAMERA_FEEDBACK", None)
|
|
if x is not None:
|
|
raise PreconditionFailedException("Receiving CAMERA_FEEDBACK?!")
|
|
self.set_rc(12, 2000)
|
|
tstart = self.get_sim_time()
|
|
while self.get_sim_time_cached() - tstart < 10:
|
|
x = self.mav.messages.get("CAMERA_FEEDBACK", None)
|
|
if x is not None:
|
|
break
|
|
self.wait_heartbeat()
|
|
self.set_rc(12, 1000)
|
|
if x is None:
|
|
raise NotAchievedException("No CAMERA_FEEDBACK message received")
|
|
|
|
def test_throttle_failsafe(self):
|
|
self.change_mode('MANUAL')
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
receiver_bit = mavutil.mavlink.MAV_SYS_STATUS_SENSOR_RC_RECEIVER
|
|
self.progress("Testing receiver enabled")
|
|
if (not (m.onboard_control_sensors_enabled & receiver_bit)):
|
|
raise PreconditionFailedException()
|
|
self.progress("Testing receiver present")
|
|
if (not (m.onboard_control_sensors_present & receiver_bit)):
|
|
raise PreconditionFailedException()
|
|
self.progress("Testing receiver health")
|
|
if (not (m.onboard_control_sensors_health & receiver_bit)):
|
|
raise PreconditionFailedException()
|
|
|
|
self.progress("Ensure we know original throttle value")
|
|
self.wait_rc_channel_value(3, 1000)
|
|
|
|
self.set_parameter("THR_FS_VALUE", 960)
|
|
self.progress("Failing receiver (throttle-to-950)")
|
|
self.set_parameter("SIM_RC_FAIL", 2) # throttle-to-950
|
|
self.wait_mode('CIRCLE') # short failsafe
|
|
self.wait_mode('RTL') # long failsafe
|
|
self.progress("Ensure we've had our throttle squashed to 950")
|
|
self.wait_rc_channel_value(3, 950)
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
print("%s" % str(m))
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
print("%s" % str(m))
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
print("%s" % str(m))
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
print("%s" % str(m))
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
print("%s" % str(m))
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
print("%s" % str(m))
|
|
self.progress("Testing receiver enabled")
|
|
if (not (m.onboard_control_sensors_enabled & receiver_bit)):
|
|
raise NotAchievedException("Receiver not enabled")
|
|
self.progress("Testing receiver present")
|
|
if (not (m.onboard_control_sensors_present & receiver_bit)):
|
|
raise NotAchievedException("Receiver not present")
|
|
# skip this until RC is fixed
|
|
# self.progress("Testing receiver health")
|
|
# if (m.onboard_control_sensors_health & receiver_bit):
|
|
# raise NotAchievedException("Sensor healthy when it shouldn't be")
|
|
self.set_parameter("SIM_RC_FAIL", 0)
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
self.progress("Testing receiver enabled")
|
|
if (not (m.onboard_control_sensors_enabled & receiver_bit)):
|
|
raise NotAchievedException("Receiver not enabled")
|
|
self.progress("Testing receiver present")
|
|
if (not (m.onboard_control_sensors_present & receiver_bit)):
|
|
raise NotAchievedException("Receiver not present")
|
|
self.progress("Testing receiver health")
|
|
if (not (m.onboard_control_sensors_health & receiver_bit)):
|
|
raise NotAchievedException("Receiver not healthy")
|
|
self.change_mode('MANUAL')
|
|
|
|
self.progress("Failing receiver (no-pulses)")
|
|
self.set_parameter("SIM_RC_FAIL", 1) # no-pulses
|
|
self.wait_mode('CIRCLE') # short failsafe
|
|
self.wait_mode('RTL') # long failsafe
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
print("%s" % str(m))
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
print("%s" % str(m))
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
print("%s" % str(m))
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
print("%s" % str(m))
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
print("%s" % str(m))
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
print("%s" % str(m))
|
|
self.progress("Testing receiver enabled")
|
|
if (not (m.onboard_control_sensors_enabled & receiver_bit)):
|
|
raise NotAchievedException("Receiver not enabled")
|
|
self.progress("Testing receiver present")
|
|
if (not (m.onboard_control_sensors_present & receiver_bit)):
|
|
raise NotAchievedException("Receiver not present")
|
|
self.progress("Testing receiver health")
|
|
if (m.onboard_control_sensors_health & receiver_bit):
|
|
raise NotAchievedException("Sensor healthy when it shouldn't be")
|
|
self.progress("Making RC work again")
|
|
self.set_parameter("SIM_RC_FAIL", 0)
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
|
|
self.progress("Testing receiver enabled")
|
|
if (not (m.onboard_control_sensors_enabled & receiver_bit)):
|
|
raise NotAchievedException("Receiver not enabled")
|
|
self.progress("Testing receiver present")
|
|
if (not (m.onboard_control_sensors_present & receiver_bit)):
|
|
raise NotAchievedException("Receiver not present")
|
|
self.progress("Testing receiver health")
|
|
if (not (m.onboard_control_sensors_health & receiver_bit)):
|
|
raise NotAchievedException("Receiver not healthy")
|
|
self.change_mode('MANUAL')
|
|
|
|
def test_gripper_mission(self):
|
|
self.context_push()
|
|
ex = None
|
|
try:
|
|
self.load_mission("plane-gripper-mission.txt")
|
|
self.mavproxy.send("wp set 1\n")
|
|
self.change_mode('AUTO')
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle()
|
|
self.mavproxy.expect("Gripper Grabbed")
|
|
self.mavproxy.expect("Gripper Released")
|
|
self.mavproxy.expect("Auto disarmed")
|
|
except Exception as e:
|
|
self.progress("Exception caught")
|
|
ex = e
|
|
self.context_pop()
|
|
if ex is not None:
|
|
raise ex
|
|
|
|
def test_parachute(self):
|
|
self.set_rc(9, 1000)
|
|
self.set_parameter("CHUTE_ENABLED", 1)
|
|
self.set_parameter("CHUTE_TYPE", 10)
|
|
self.set_parameter("SERVO9_FUNCTION", 27)
|
|
self.set_parameter("SIM_PARA_ENABLE", 1)
|
|
self.set_parameter("SIM_PARA_PIN", 9)
|
|
|
|
self.load_mission("plane-parachute-mission.txt")
|
|
self.mavproxy.send("wp set 1\n")
|
|
self.change_mode('AUTO')
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle()
|
|
self.mavproxy.expect("BANG")
|
|
self.reboot_sitl()
|
|
|
|
def run_subtest(self, desc, func):
|
|
self.start_subtest(desc)
|
|
func()
|
|
|
|
def test_main_flight(self):
|
|
|
|
self.change_mode('MANUAL')
|
|
|
|
# grab home position:
|
|
m = self.mav.recv_match(type='HOME_POSITION', blocking=True)
|
|
self.homeloc = self.mav.location()
|
|
|
|
self.run_subtest("Takeoff", self.takeoff)
|
|
|
|
self.run_subtest("Set Attitude Target", self.set_attitude_target)
|
|
|
|
self.run_subtest("Fly left circuit", self.fly_left_circuit)
|
|
|
|
self.run_subtest("Left roll", lambda: self.axial_left_roll(1))
|
|
|
|
self.run_subtest("Inside loop", self.inside_loop)
|
|
|
|
self.run_subtest("Stablize test", self.test_stabilize)
|
|
|
|
self.run_subtest("ACRO test", self.test_acro)
|
|
|
|
self.run_subtest("FBWB test", self.test_FBWB)
|
|
|
|
self.run_subtest("CRUISE test", lambda: self.test_FBWB(mode='CRUISE'))
|
|
|
|
self.run_subtest("RTL test", self.fly_RTL)
|
|
|
|
self.run_subtest("LOITER test", self.fly_LOITER)
|
|
|
|
self.run_subtest("CIRCLE test", self.fly_CIRCLE)
|
|
|
|
self.run_subtest("Mission test",
|
|
lambda: self.fly_mission(
|
|
os.path.join(testdir, "ap1.txt")))
|
|
|
|
def airspeed_autocal(self):
|
|
self.progress("Ensure no AIRSPEED_AUTOCAL on ground")
|
|
self.set_parameter("ARSPD_AUTOCAL", 1)
|
|
m = self.mav.recv_match(type='AIRSPEED_AUTOCAL',
|
|
blocking=True,
|
|
timeout=5)
|
|
if m is not None:
|
|
raise NotAchievedException("Got autocal on ground")
|
|
mission_filepath = os.path.join(testdir, "flaps.txt")
|
|
self.load_mission(mission_filepath)
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle()
|
|
self.change_mode("AUTO")
|
|
self.progress("Ensure AIRSPEED_AUTOCAL in air")
|
|
m = self.mav.recv_match(type='AIRSPEED_AUTOCAL',
|
|
blocking=True,
|
|
timeout=5)
|
|
self.mav.motors_disarmed_wait()
|
|
|
|
def rc_defaults(self):
|
|
ret = super(AutoTestPlane, self).rc_defaults()
|
|
ret[3] = 1000
|
|
ret[8] = 1800
|
|
return ret
|
|
|
|
def default_mode(self):
|
|
return "MANUAL"
|
|
|
|
def test_pid_tuning(self):
|
|
self.change_mode("FBWA") # we don't update PIDs in MANUAL
|
|
super(AutoTestPlane, self).test_pid_tuning()
|
|
|
|
def tests(self):
|
|
'''return list of all tests'''
|
|
ret = super(AutoTestPlane, self).tests()
|
|
ret.extend([
|
|
|
|
("TestRCCamera",
|
|
"Test RC Option - Camera Trigger",
|
|
self.test_rc_option_camera_trigger),
|
|
|
|
("TestRCRelay", "Test Relay RC Channel Option", self.test_rc_relay),
|
|
|
|
("ThrottleFailsafe",
|
|
"Fly throttle failsafe",
|
|
self.test_throttle_failsafe),
|
|
|
|
("TestFlaps", "Flaps", self.fly_flaps),
|
|
|
|
("MainFlight",
|
|
"Lots of things in one flight",
|
|
self.test_main_flight),
|
|
|
|
("TestGripperMission",
|
|
"Test Gripper mission items",
|
|
self.test_gripper_mission),
|
|
|
|
("Parachute", "Test Parachute", self.test_parachute),
|
|
|
|
("AIRSPEED_AUTOCAL", "Test AIRSPEED_AUTOCAL", self.airspeed_autocal),
|
|
|
|
("LogDownLoad",
|
|
"Log download",
|
|
lambda: self.log_download(
|
|
self.buildlogs_path("ArduPlane-log.bin"),
|
|
timeout=450,
|
|
upload_logs=True))
|
|
])
|
|
return ret
|