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ardupilot/Tools/autotest/arducopter.py

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#!/usr/bin/env python
# Fly ArduCopter in SITL
from __future__ import print_function
import math
import os
import shutil
import time
import traceback
import pexpect
from pymavlink import mavutil
from pymavlink import mavextra
from pysim import util, rotmat
from common import AutoTest
from common import NotAchievedException, AutoTestTimeoutException, PreconditionFailedException
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
SITL_START_LOCATION = mavutil.location(-35.362938, 149.165085, 584, 270)
SITL_START_LOCATION_AVC = mavutil.location(40.072842, -105.230575, 1586, 0)
# Flight mode switch positions are set-up in arducopter.param to be
# switch 1 = Circle
# switch 2 = Land
# switch 3 = RTL
# switch 4 = Auto
# switch 5 = Loiter
# switch 6 = Stabilize
class AutoTestCopter(AutoTest):
@staticmethod
def get_not_armable_mode_list():
return ["AUTO", "AUTOTUNE", "BRAKE", "CIRCLE", "FLIP", "LAND", "RTL", "SMART_RTL", "AVOID_ADSB", "FOLLOW"]
@staticmethod
def get_not_disarmed_settable_modes_list():
return ["FLIP", "AUTOTUNE"]
@staticmethod
def get_no_position_not_settable_modes_list():
return []
@staticmethod
def get_position_armable_modes_list():
return ["DRIFT", "GUIDED", "LOITER", "POSHOLD", "THROW"]
@staticmethod
def get_normal_armable_modes_list():
return ["ACRO", "ALT_HOLD", "SPORT", "STABILIZE", "GUIDED_NOGPS"]
def log_name(self):
return "ArduCopter"
def test_filepath(self):
return os.path.realpath(__file__)
def sitl_start_location(self):
return SITL_START_LOCATION
def mavproxy_options(self):
ret = super(AutoTestCopter, self).mavproxy_options()
if self.frame != 'heli':
ret.append('--quadcopter')
return ret
def sitl_streamrate(self):
return 5
def vehicleinfo_key(self):
return 'ArduCopter'
def default_frame(self):
return "+"
def uses_vicon(self):
return True
def close(self):
super(AutoTestCopter, self).close()
# [2014/05/07] FC Because I'm doing a cross machine build
# (source is on host, build is on guest VM) I cannot hard link
# This flag tells me that I need to copy the data out
if self.copy_tlog:
shutil.copy(self.logfile, self.buildlog)
def is_copter(self):
return True
def get_stick_arming_channel(self):
return int(self.get_parameter("RCMAP_YAW"))
def get_disarm_delay(self):
return int(self.get_parameter("DISARM_DELAY"))
def set_autodisarm_delay(self, delay):
self.set_parameter("DISARM_DELAY", delay)
def user_takeoff(self, alt_min=30):
'''takeoff using mavlink takeoff command'''
self.run_cmd(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
0, # param1
0, # param2
0, # param3
0, # param4
0, # param5
0, # param6
alt_min # param7
)
self.progress("Ran command")
self.wait_for_alt(alt_min)
def takeoff(self,
alt_min=30,
takeoff_throttle=1700,
require_absolute=True,
mode="STABILIZE",
timeout=30):
"""Takeoff get to 30m altitude."""
self.progress("TAKEOFF")
self.change_mode(mode)
if not self.armed():
self.wait_ready_to_arm(require_absolute=require_absolute)
self.zero_throttle()
self.arm_vehicle()
self.set_rc(3, takeoff_throttle)
self.wait_for_alt(alt_min=alt_min, timeout=timeout)
self.hover()
self.progress("TAKEOFF COMPLETE")
def wait_for_alt(self, alt_min=30, timeout=30):
"""Wait for altitude to be reached."""
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
alt = m.relative_alt / 1000.0 # mm -> m
if alt < alt_min:
self.wait_altitude(alt_min - 1,
(alt_min + 5),
relative=True,
timeout=timeout)
def land_and_disarm(self, timeout=60):
"""Land the quad."""
self.progress("STARTING LANDING")
self.change_mode("LAND")
self.wait_altitude(-5, 1, relative=True, timeout=timeout)
self.progress("LANDING: ok!")
self.mav.motors_disarmed_wait()
def hover(self, hover_throttle=1500):
self.set_rc(3, hover_throttle)
# loiter - fly south west, then loiter within 5m position and altitude
def loiter(self, holdtime=10, maxaltchange=5, maxdistchange=5):
"""Hold loiter position."""
self.takeoff(10, mode="LOITER")
# first aim south east
self.progress("turn south east")
self.set_rc(4, 1580)
self.wait_heading(170)
self.set_rc(4, 1500)
# fly south east 50m
self.set_rc(2, 1100)
self.wait_distance(50)
self.set_rc(2, 1500)
# wait for copter to slow moving
self.wait_groundspeed(0, 2)
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
start_altitude = m.alt
start = self.mav.location()
tstart = self.get_sim_time()
self.progress("Holding loiter at %u meters for %u seconds" %
(start_altitude, holdtime))
while self.get_sim_time_cached() < tstart + holdtime:
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
pos = self.mav.location()
delta = self.get_distance(start, pos)
alt_delta = math.fabs(m.alt - start_altitude)
self.progress("Loiter Dist: %.2fm, alt:%u" % (delta, m.alt))
if alt_delta > maxaltchange:
raise NotAchievedException(
"Loiter alt shifted %u meters (> limit %u)" %
(alt_delta, maxaltchange))
if delta > maxdistchange:
raise NotAchievedException(
"Loiter shifted %u meters (> limit of %u)" %
(delta, maxdistchange))
self.progress("Loiter OK for %u seconds" % holdtime)
self.progress("Climb to 30m")
self.change_alt(30)
self.progress("Descend to 20m")
self.change_alt(20)
self.do_RTL()
def watch_altitude_maintained(self, min_alt, max_alt, timeout=10):
'''watch alt, relative alt must remain between min_alt and max_alt'''
tstart = self.get_sim_time_cached()
while True:
if self.get_sim_time_cached() - tstart > timeout:
return
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
if m.alt <= min_alt:
raise NotAchievedException("Altitude not maintained: want >%f got=%f" % (min_alt, m.alt))
def test_mode_ALT_HOLD(self):
self.takeoff(10, mode="ALT_HOLD")
self.watch_altitude_maintained(9, 11, timeout=5)
# feed in full elevator and aileron input and make sure we
# retain altitude:
self.set_rc(1, 1000)
self.set_rc(2, 1000)
self.watch_altitude_maintained(9, 11, timeout=5)
self.set_rc(1, 1500)
self.set_rc(2, 1500)
self.do_RTL()
def change_alt(self, alt_min, climb_throttle=1920, descend_throttle=1080):
"""Change altitude."""
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
alt = m.relative_alt / 1000.0 # mm -> m
if alt < alt_min:
self.progress("Rise to alt:%u from %u" % (alt_min, alt))
self.set_rc(3, climb_throttle)
self.wait_altitude(alt_min, (alt_min + 5), relative=True)
else:
self.progress("Lower to alt:%u from %u" % (alt_min, alt))
self.set_rc(3, descend_throttle)
self.wait_altitude((alt_min - 5), alt_min, relative=True)
self.hover()
#################################################
# TESTS FLY
#################################################
# fly a square in alt_hold mode
def fly_square(self, side=50, timeout=300):
self.clear_mission()
self.takeoff(10)
"""Fly a square, flying N then E ."""
tstart = self.get_sim_time()
# ensure all sticks in the middle
self.set_rc(1, 1500)
self.set_rc(2, 1500)
self.set_rc(3, 1500)
self.set_rc(4, 1500)
# switch to loiter mode temporarily to stop us from rising
self.change_mode('LOITER')
# first aim north
self.progress("turn right towards north")
self.set_rc(4, 1580)
self.wait_heading(10)
self.set_rc(4, 1500)
# save bottom left corner of box as waypoint
self.progress("Save WP 1 & 2")
self.save_wp()
# switch back to stabilize mode
self.change_mode('STABILIZE')
# increase throttle a bit because we're about to pitch:
self.set_rc(3, 1525)
# pitch forward to fly north
self.progress("Going north %u meters" % side)
self.set_rc(2, 1300)
self.wait_distance(side)
self.set_rc(2, 1500)
# save top left corner of square as waypoint
self.progress("Save WP 3")
self.save_wp()
# roll right to fly east
self.progress("Going east %u meters" % side)
self.set_rc(1, 1700)
self.wait_distance(side)
self.set_rc(1, 1500)
# save top right corner of square as waypoint
self.progress("Save WP 4")
self.save_wp()
# pitch back to fly south
self.progress("Going south %u meters" % side)
self.set_rc(2, 1700)
self.wait_distance(side)
self.set_rc(2, 1500)
# save bottom right corner of square as waypoint
self.progress("Save WP 5")
self.save_wp()
# roll left to fly west
self.progress("Going west %u meters" % side)
self.set_rc(1, 1300)
self.wait_distance(side)
self.set_rc(1, 1500)
# save bottom left corner of square (should be near home) as waypoint
self.progress("Save WP 6")
self.save_wp()
# reduce throttle again
self.set_rc(3, 1500)
# descend to 10m
self.progress("Descend to 10m in Loiter")
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_mode('LOITER')
self.set_rc(3, 1300)
time_left = timeout - (self.get_sim_time() - tstart)
self.progress("timeleft = %u" % time_left)
if time_left < 20:
time_left = 20
self.wait_altitude(-10, 10, time_left, relative=True)
self.set_rc(3, 1500)
self.save_wp()
# save the stored mission to file
num_wp = self.save_mission_to_file(os.path.join(testdir,
"ch7_mission.txt"))
if not num_wp:
self.fail_list.append("save_mission_to_file")
self.progress("save_mission_to_file failed")
self.progress("test: Fly a mission from 1 to %u" % num_wp)
self.mavproxy.send('wp set 1\n')
self.change_mode('AUTO')
self.wait_waypoint(0, num_wp-1, timeout=500)
self.progress("test: MISSION COMPLETE: passed!")
self.change_mode('LAND')
self.mav.motors_disarmed_wait()
# enter RTL mode and wait for the vehicle to disarm
def do_RTL(self, timeout=250):
"""Return, land."""
self.change_mode("RTL")
self.set_rc(3, 1500)
tstart = self.get_sim_time()
while self.get_sim_time_cached() < tstart + timeout:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
alt = m.relative_alt / 1000.0 # mm -> m
home_distance = self.distance_to_home(use_cached_home=True)
home = ""
if alt <= 1 and home_distance < 10:
home = "HOME"
self.progress("Alt: %.02f HomeDist: %.02f %s" %
(alt, home_distance, home))
# our post-condition is that we are disarmed:
if not self.armed():
if home == "":
raise NotAchievedException("Did not get home")
# success!
return
raise AutoTestTimeoutException("Did not get home and disarm")
def fly_loiter_to_alt(self):
"""loiter to alt"""
self.context_push()
ex = None
try:
self.set_parameter("PLND_ENABLED", 1)
self.fetch_parameters()
self.set_parameter("PLND_TYPE", 4)
self.set_analog_rangefinder_parameters()
self.reboot_sitl()
self.load_mission("copter_loiter_to_alt.txt")
self.mavproxy.send('switch 5\n')
self.wait_mode('LOITER')
self.wait_ready_to_arm()
self.arm_vehicle()
self.mavproxy.send('mode auto\n')
self.wait_mode('AUTO')
self.set_rc(3, 1550)
self.wait_current_waypoint(2)
self.set_rc(3, 1500)
self.mav.motors_disarmed_wait()
except Exception as e:
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def fly_throttle_failsafe(self, side=60, timeout=180):
"""Fly east, Failsafe, return, land."""
self.takeoff(10)
# switch to loiter mode temporarily to stop us from rising
self.change_mode('LOITER')
# first aim east
self.progress("turn east")
self.set_rc(4, 1580)
self.wait_heading(135)
self.set_rc(4, 1500)
# raise throttle slightly to avoid hitting the ground
pos = self.mav.location(relative_alt=True)
if pos.alt > 25:
self.set_rc(3, 1300)
self.wait_altitude(20, 25, relative=True)
if pos.alt < 20:
self.set_rc(3, 1800)
self.wait_altitude(20, 25, relative=True)
self.hover()
self.change_mode("STABILIZE")
self.hover()
# fly east 60 meters
self.progress("# Going forward %u meters" % side)
self.set_rc(2, 1350)
self.wait_distance(side, 5, 60)
self.set_rc(2, 1500)
# pull throttle low
self.progress("# Enter Failsafe by setting very low throttle")
self.set_rc(3, 900)
tstart = self.get_sim_time()
homeloc = self.poll_home_position()
home = mavutil.location(homeloc.latitude/1e7,
homeloc.longitude/1e7,
homeloc.altitude/1e3,
0)
while self.get_sim_time_cached() < tstart + timeout:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
alt = m.relative_alt / 1000.0 # mm -> m
pos = self.mav.location()
home_distance = self.get_distance(home, pos )
self.progress("Alt: %.02f HomeDist: %.0f" % (alt, home_distance))
# check if we've reached home
if alt <= 1 and home_distance < 10:
# reduce throttle
self.set_rc(3, 1100)
# switch back to stabilize
self.change_mode("LAND")
self.progress("Waiting for disarm")
self.mav.motors_disarmed_wait()
self.progress("Reached failsafe home OK")
self.change_mode('STABILIZE')
self.zero_throttle()
return
self.reboot_sitl()
raise AutoTestTimeoutException(
("Failed to land and disarm on failsafe RTL - "
"timed out after %u seconds" % timeout))
def fly_battery_failsafe(self, timeout=300):
self.takeoff(10, mode='LOITER')
# enable battery failsafe
self.set_parameter('BATT_FS_LOW_ACT', 1)
# trigger low voltage
self.set_parameter('SIM_BATT_VOLTAGE', 10)
# wait for LAND mode. If unsuccessful an exception will be raised
self.wait_mode('LAND', timeout=timeout)
self.progress("Successfully entered LAND after battery failsafe")
self.mav.motors_disarmed_wait()
self.reboot_sitl()
# fly_stability_patch - fly south, then hold loiter within 5m
# position and altitude and reduce 1 motor to 60% efficiency
def fly_stability_patch(self,
holdtime=30,
maxaltchange=5,
maxdistchange=10):
self.takeoff(10, mode="LOITER")
# first south
self.progress("turn south")
self.set_rc(4, 1580)
self.wait_heading(180)
self.set_rc(4, 1500)
# fly west 80m
self.set_rc(2, 1100)
self.wait_distance(80)
self.set_rc(2, 1500)
# wait for copter to slow moving
self.wait_groundspeed(0, 2)
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
start_altitude = m.alt
start = self.mav.location()
tstart = self.get_sim_time()
self.progress("Holding loiter at %u meters for %u seconds" %
(start_altitude, holdtime))
# cut motor 1 to 55% efficiency
self.progress("Cutting motor 1 to 60% efficiency")
self.set_parameter("SIM_ENGINE_MUL", 0.60)
while self.get_sim_time_cached() < tstart + holdtime:
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
pos = self.mav.location()
delta = self.get_distance(start, pos)
alt_delta = math.fabs(m.alt - start_altitude)
self.progress("Loiter Dist: %.2fm, alt:%u" % (delta, m.alt))
if alt_delta > maxaltchange:
raise NotAchievedException(
"Loiter alt shifted %u meters (> limit %u)" %
(alt_delta, maxaltchange))
if delta > maxdistchange:
raise NotAchievedException(
("Loiter shifted %u meters (> limit of %u)" %
(delta, maxdistchange)))
# restore motor 1 to 100% efficiency
self.set_parameter("SIM_ENGINE_MUL", 1.0)
self.progress("Stability patch and Loiter OK for %us" % holdtime)
self.progress("RTL after stab patch")
self.do_RTL()
def debug_arming_issue(self):
while True:
self.send_mavlink_arm_command()
m = self.mav.recv_match(blocking=True, timeout=1)
if m is None:
continue
if m.get_type() in ["STATUSTEXT", "COMMAND_ACK"]:
print("Got: %s" % str(m))
if self.mav.motors_armed():
self.progress("Armed")
return
def wait_distance_from_home(self, distance_min, distance_max, timeout=10):
tstart = self.get_sim_time()
while True:
if self.get_sim_time() - tstart > timeout:
raise NotAchievedException("Did not achieve distance from home")
distance = self.distance_to_home(use_cached_home=True)
self.progress("Distance from home: now=%f %f<want<%f" %
(distance, distance_min, distance_max))
if distance >= distance_min and distance <= distance_max:
return
# fly_fence_test - fly east until you hit the horizontal circular fence
avoid_behave_slide = 0
def fly_fence_avoid_test_radius_check(self, timeout=180, avoid_behave=avoid_behave_slide):
using_mode = "LOITER" # must be something which adjusts velocity!
self.change_mode(using_mode)
self.set_parameter("FENCE_ENABLE", 1) # fence
self.set_parameter("FENCE_TYPE", 2) # circle
fence_radius = 15
self.set_parameter("FENCE_RADIUS", fence_radius)
fence_margin = 3
self.set_parameter("FENCE_MARGIN", fence_margin)
self.set_parameter("AVOID_ENABLE", 1)
self.set_parameter("AVOID_BEHAVE", avoid_behave)
self.set_parameter("RC10_OPTION", 40) # avoid-enable
self.wait_ready_to_arm()
self.set_rc(10, 2000)
home_distance = self.distance_to_home(use_cached_home=True)
if home_distance > 5:
raise PreconditionFailedException("Expected to be within 5m of home")
self.zero_throttle()
self.arm_vehicle()
self.set_rc(3, 1700)
self.wait_altitude(10, 100, relative=True)
self.set_rc(3, 1500)
self.set_rc(2, 1400)
self.wait_distance_from_home(12, 20)
tstart = self.get_sim_time()
push_time = 70 # push against barrier for 60 seconds
failed_max = False
failed_min = False
while True:
if self.get_sim_time() - tstart > push_time:
self.progress("Push time up")
break
# make sure we don't RTL:
if not self.mode_is(using_mode):
raise NotAchievedException("Changed mode away from %s" % using_mode)
distance = self.distance_to_home(use_cached_home=True)
inner_radius = fence_radius - fence_margin
want_min = inner_radius - 1 # allow 1m either way
want_max = inner_radius + 1 # allow 1m either way
self.progress("Push: distance=%f %f<want<%f" %
(distance, want_min, want_max))
if distance < want_min:
if failed_min is False:
self.progress("Failed min")
failed_min = True
if distance > want_max:
if failed_max is False:
self.progress("Failed max")
failed_max = True
if failed_min and failed_max:
raise NotAchievedException("Failed both min and max checks. Clever")
if failed_min:
raise NotAchievedException("Failed min")
if failed_max:
raise NotAchievedException("Failed max")
self.set_rc(2, 1500)
self.do_RTL()
def fly_fence_avoid_test(self, timeout=180):
self.fly_fence_avoid_test_radius_check(avoid_behave=1, timeout=timeout)
self.fly_fence_avoid_test_radius_check(avoid_behave=0, timeout=timeout)
# fly_fence_test - fly east until you hit the horizontal circular fence
def fly_fence_test(self, timeout=180):
# enable fence, disable avoidance
self.set_parameter("FENCE_ENABLE", 1)
self.set_parameter("AVOID_ENABLE", 0)
self.change_mode("LOITER")
self.wait_ready_to_arm()
# fence requires home to be set:
m = self.poll_home_position()
if m is None:
raise NotAchievedException("Did not receive HOME_POSITION")
self.progress("home: %s" % str(m))
self.start_subtest("ensure we can't arm if ouside fence")
fence = os.path.join(self.mission_directory(),
"fence-in-middle-of-nowhere.txt")
self.mavproxy.send('fence load %s\n' % fence)
self.mavproxy.expect("Loaded 6 geo-fence")
self.delay_sim_time(5) # let fence check run so it loads-from-eeprom
seen_statustext = False
seen_command_ack = False
tstart = self.get_sim_time_cached()
while True:
self.send_mavlink_arm_command()
if seen_command_ack and seen_statustext:
break
if self.get_sim_time_cached() - tstart > 5:
raise NotAchievedException("Did not see failure-to-arm messages (statustext=%s command_ack=%s" % (seen_statustext, seen_command_ack))
m = self.mav.recv_match(blocking=True, timeout=1)
if m is None:
continue
if m.get_type() == "STATUSTEXT":
if "vehicle outside fence" in m.text:
self.progress("Got: %s" % str(m))
seen_statustext = True
elif "PreArm" in m.text:
self.progress("Got: %s" % str(m))
raise NotAchievedException("Unexpected prearm failure (%s)" % m.text)
if m.get_type() == "COMMAND_ACK":
print("Got: %s" % str(m))
if m.command == mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM:
if m.result != 4:
raise NotAchievedException("command-ack says we didn't fail to arm")
self.progress("Got: %s" % str(m))
seen_command_ack = True
if self.mav.motors_armed():
raise NotAchievedException("Armed when we shouldn't have")
self.progress("Failed to arm outside fence (good!)")
self.drain_mav()
self.mavproxy.send('fence clear\n')
self.delay_sim_time(2)
self.mavproxy.send('fence list\n')
self.mavproxy.expect("No geo-fence points")
self.start_subtest("Check breach-fence behaviour")
self.set_parameter("FENCE_TYPE", 2)
self.takeoff(10, mode="LOITER")
# first east
self.progress("turn east")
self.set_rc(4, 1580)
self.wait_heading(160)
self.set_rc(4, 1500)
fence_radius = self.get_parameter("FENCE_RADIUS")
self.progress("flying forward (east) until we hit fence")
pitching_forward = True
self.set_rc(2, 1100)
self.progress("Waiting for fence breach")
tstart = self.get_sim_time()
while not self.mode_is("RTL"):
if self.get_sim_time_cached() - tstart > 30:
self.NotAchievedException("Did not breach fence")
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
alt = m.relative_alt / 1000.0 # mm -> m
home_distance = self.distance_to_home(use_cached_home=True)
self.progress("Alt: %.02f HomeDistance: %.02f (fence radius=%f)" %
(alt, home_distance, fence_radius))
self.progress("Waiting until we get home and disarm")
tstart = self.get_sim_time()
while self.get_sim_time_cached() < tstart + timeout:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
alt = m.relative_alt / 1000.0 # mm -> m
home_distance = self.distance_to_home(use_cached_home=True)
self.progress("Alt: %.02f HomeDistance: %.02f" %
(alt, home_distance))
# recenter pitch sticks once we're home so we don't fly off again
if pitching_forward and home_distance < 50:
pitching_forward = False
self.set_rc(2, 1475)
# disable fence
self.set_parameter("FENCE_ENABLE", 0)
if (alt <= 1 and home_distance < 10) or (not self.armed() and home_distance < 10):
# reduce throttle
self.zero_throttle()
self.change_mode("LAND")
self.progress("Waiting for disarm")
self.mav.motors_disarmed_wait()
self.progress("Reached home OK")
self.zero_throttle()
return
# give we're testing RTL, doing one here probably doesn't make sense
home_distance = self.distance_to_home(use_cached_home=True)
raise AutoTestTimeoutException(
"Fence test failed to reach home (%fm distance) - "
"timed out after %u seconds" % (home_distance, timeout,))
# fly_alt_fence_test - fly up until you hit the fence
def fly_alt_max_fence_test(self):
self.takeoff(10, mode="LOITER")
"""Hold loiter position."""
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_mode('LOITER')
# enable fence, disable avoidance
self.set_parameter("FENCE_ENABLE", 1)
self.set_parameter("AVOID_ENABLE", 0)
self.set_parameter("FENCE_TYPE", 1)
self.change_alt(10)
# first east
self.progress("turn east")
self.set_rc(4, 1580)
self.wait_heading(160)
self.set_rc(4, 1500)
# fly forward (east) at least 20m
self.set_rc(2, 1100)
self.wait_distance(20)
# stop flying forward and start flying up:
self.set_rc(2, 1500)
self.set_rc(3, 1800)
# wait for fence to trigger
self.wait_mode('RTL', timeout=120)
self.progress("Waiting for disarm")
self.mav.motors_disarmed_wait()
self.zero_throttle()
def fly_gps_glitch_loiter_test(self, timeout=30, max_distance=20):
"""fly_gps_glitch_loiter_test. Fly south east in loiter and test
reaction to gps glitch."""
self.takeoff(10, mode="LOITER")
# turn on simulator display of gps and actual position
if self.use_map:
self.show_gps_and_sim_positions(True)
# set-up gps glitch array
glitch_lat = [0.0002996,
0.0006958,
0.0009431,
0.0009991,
0.0009444,
0.0007716,
0.0006221]
glitch_lon = [0.0000717,
0.0000912,
0.0002761,
0.0002626,
0.0002807,
0.0002049,
0.0001304]
glitch_num = len(glitch_lat)
self.progress("GPS Glitches:")
for i in range(1, glitch_num):
self.progress("glitch %d %.7f %.7f" %
(i, glitch_lat[i], glitch_lon[i]))
# turn south east
self.progress("turn south east")
self.set_rc(4, 1580)
try:
self.wait_heading(150)
self.set_rc(4, 1500)
# fly forward (south east) at least 60m
self.set_rc(2, 1100)
self.wait_distance(60)
self.set_rc(2, 1500)
# wait for copter to slow down
except Exception as e:
if self.use_map:
self.show_gps_and_sim_positions(False)
raise e
# record time and position
tstart = self.get_sim_time()
tnow = tstart
start_pos = self.sim_location()
# initialise current glitch
glitch_current = 0
self.progress("Apply first glitch")
self.set_parameter("SIM_GPS_GLITCH_X", glitch_lat[glitch_current])
self.set_parameter("SIM_GPS_GLITCH_Y", glitch_lon[glitch_current])
# record position for 30 seconds
while tnow < tstart + timeout:
tnow = self.get_sim_time_cached()
desired_glitch_num = int((tnow - tstart) * 2.2)
if desired_glitch_num > glitch_current and glitch_current != -1:
glitch_current = desired_glitch_num
# turn off glitching if we've reached the end of glitch list
if glitch_current >= glitch_num:
glitch_current = -1
self.progress("Completed Glitches")
self.set_parameter("SIM_GPS_GLITCH_X", 0)
self.set_parameter("SIM_GPS_GLITCH_Y", 0)
else:
self.progress("Applying glitch %u" % glitch_current)
# move onto the next glitch
self.set_parameter("SIM_GPS_GLITCH_X", glitch_lat[glitch_current])
self.set_parameter("SIM_GPS_GLITCH_Y", glitch_lon[glitch_current])
# start displaying distance moved after all glitches applied
if glitch_current == -1:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
alt = m.alt/1000.0 # mm -> m
curr_pos = self.sim_location()
moved_distance = self.get_distance(curr_pos, start_pos)
self.progress("Alt: %.02f Moved: %.0f" %
(alt, moved_distance))
if moved_distance > max_distance:
raise NotAchievedException(
"Moved over %u meters, Failed!" % max_distance)
else:
self.drain_mav()
# disable gps glitch
if glitch_current != -1:
self.set_parameter("SIM_GPS_GLITCH_X", 0)
self.set_parameter("SIM_GPS_GLITCH_Y", 0)
if self.use_map:
self.show_gps_and_sim_positions(False)
self.progress("GPS glitch test passed!"
" stayed within %u meters for %u seconds" %
(max_distance, timeout))
self.do_RTL()
# re-arming is problematic because the GPS is glitching!
self.reboot_sitl()
# fly_gps_glitch_auto_test - fly mission and test reaction to gps glitch
def fly_gps_glitch_auto_test(self, timeout=180):
# set-up gps glitch array
glitch_lat = [0.0002996,
0.0006958,
0.0009431,
0.0009991,
0.0009444,
0.0007716,
0.0006221]
glitch_lon = [0.0000717,
0.0000912,
0.0002761,
0.0002626,
0.0002807,
0.0002049,
0.0001304]
glitch_num = len(glitch_lat)
self.progress("GPS Glitches:")
for i in range(1, glitch_num):
self.progress("glitch %d %.7f %.7f" %
(i, glitch_lat[i], glitch_lon[i]))
# Fly mission #1
self.progress("# Load copter_glitch_mission")
# load the waypoint count
num_wp = self.load_mission("copter_glitch_mission.txt")
if not num_wp:
raise NotAchievedException("load copter_glitch_mission failed")
# turn on simulator display of gps and actual position
if self.use_map:
self.show_gps_and_sim_positions(True)
self.progress("test: Fly a mission from 1 to %u" % num_wp)
self.mavproxy.send('wp set 1\n')
self.change_mode("STABILIZE")
self.wait_ready_to_arm()
self.zero_throttle()
self.arm_vehicle()
# switch into AUTO mode and raise throttle
self.mavproxy.send('switch 4\n') # auto mode
self.wait_mode('AUTO')
self.set_rc(3, 1500)
# wait until 100m from home
try:
self.wait_distance(100, 5, 90)
except Exception as e:
if self.use_map:
self.show_gps_and_sim_positions(False)
raise e
# record time and position
tstart = self.get_sim_time()
# initialise current glitch
glitch_current = 0
self.progress("Apply first glitch")
self.set_parameter("SIM_GPS_GLITCH_X", glitch_lat[glitch_current])
self.set_parameter("SIM_GPS_GLITCH_Y", glitch_lon[glitch_current])
# record position for 30 seconds
while glitch_current < glitch_num:
tnow = self.get_sim_time()
desired_glitch_num = int((tnow - tstart) * 2.2)
if desired_glitch_num > glitch_current and glitch_current != -1:
glitch_current = desired_glitch_num
# apply next glitch
if glitch_current < glitch_num:
self.progress("Applying glitch %u" % glitch_current)
self.set_parameter("SIM_GPS_GLITCH_X",
glitch_lat[glitch_current])
self.set_parameter("SIM_GPS_GLITCH_Y",
glitch_lon[glitch_current])
# turn off glitching
self.progress("Completed Glitches")
self.set_parameter("SIM_GPS_GLITCH_X", 0)
self.set_parameter("SIM_GPS_GLITCH_Y", 0)
# continue with the mission
self.wait_waypoint(0, num_wp-1, timeout=500)
# wait for arrival back home
self.mav.recv_match(type='VFR_HUD', blocking=True)
while self.distance_to_home(use_cached_home=True) > 5:
if self.get_sim_time_cached() > (tstart + timeout):
raise AutoTestTimeoutException(
("GPS Glitch testing failed"
"- exceeded timeout %u seconds" % timeout))
self.mav.recv_match(type='VFR_HUD', blocking=True)
self.progress("Dist from home: %.02f" % self.distance_to_home(use_cached_home=True))
# turn off simulator display of gps and actual position
if self.use_map:
self.show_gps_and_sim_positions(False)
self.progress("GPS Glitch test Auto completed: passed!")
self.mav.motors_disarmed_wait()
# re-arming is problematic because the GPS is glitching!
self.reboot_sitl()
# fly_simple - assumes the simple bearing is initialised to be
# directly north flies a box with 100m west, 15 seconds north,
# 50 seconds east, 15 seconds south
def fly_simple(self, side=50):
self.takeoff(10, mode="LOITER")
# hold position in loiter
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_mode('LOITER')
# set SIMPLE mode for all flight modes
self.set_parameter("SIMPLE", 63)
# switch to stabilize mode
self.mavproxy.send('switch 6\n')
self.wait_mode('STABILIZE')
self.set_rc(3, 1500)
# fly south 50m
self.progress("# Flying south %u meters" % side)
self.set_rc(1, 1300)
self.wait_distance(side, 5, 60)
self.set_rc(1, 1500)
# fly west 8 seconds
self.progress("# Flying west for 8 seconds")
self.set_rc(2, 1300)
tstart = self.get_sim_time()
while self.get_sim_time_cached() < (tstart + 8):
self.mav.recv_match(type='VFR_HUD', blocking=True)
self.set_rc(2, 1500)
# fly north 25 meters
self.progress("# Flying north %u meters" % (side/2.0))
self.set_rc(1, 1700)
self.wait_distance(side/2, 5, 60)
self.set_rc(1, 1500)
# fly east 8 seconds
self.progress("# Flying east for 8 seconds")
self.set_rc(2, 1700)
tstart = self.get_sim_time()
while self.get_sim_time_cached() < (tstart + 8):
self.mav.recv_match(type='VFR_HUD', blocking=True)
self.set_rc(2, 1500)
# hover in place
self.hover()
self.do_RTL()
# fly_super_simple - flies a circle around home for 45 seconds
def fly_super_simple(self, timeout=45):
self.takeoff(10, mode="LOITER")
# fly forward 20m
self.progress("# Flying forward 20 meters")
self.set_rc(2, 1300)
self.wait_distance(20, 5, 60)
self.set_rc(2, 1500)
# set SUPER SIMPLE mode for all flight modes
self.set_parameter("SUPER_SIMPLE", 63)
# switch to stabilize mode
self.change_mode("STABILIZE")
self.set_rc(3, 1500)
# start copter yawing slowly
self.set_rc(4, 1550)
# roll left for timeout seconds
self.progress("# rolling left from pilot's POV for %u seconds"
% timeout)
self.set_rc(1, 1300)
tstart = self.get_sim_time()
while self.get_sim_time_cached() < (tstart + timeout):
self.mav.recv_match(type='VFR_HUD', blocking=True)
# stop rolling and yawing
self.set_rc(1, 1500)
self.set_rc(4, 1500)
# restore simple mode parameters to default
self.set_parameter("SUPER_SIMPLE", 0)
# hover in place
self.hover()
self.do_RTL()
# fly_circle - flies a circle with 20m radius
def fly_circle(self, holdtime=36):
self.takeoff(10, mode="LOITER")
# face west
self.progress("turn west")
self.set_rc(4, 1580)
self.wait_heading(270)
self.set_rc(4, 1500)
# set CIRCLE radius
self.set_parameter("CIRCLE_RADIUS", 3000)
# fly forward (east) at least 100m
self.set_rc(2, 1100)
self.wait_distance(100)
# return pitch stick back to middle
self.set_rc(2, 1500)
# set CIRCLE mode
self.mavproxy.send('switch 1\n') # circle mode
self.wait_mode('CIRCLE')
# wait
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
start_altitude = m.alt
tstart = self.get_sim_time()
self.progress("Circle at %u meters for %u seconds" %
(start_altitude, holdtime))
while self.get_sim_time_cached() < tstart + holdtime:
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
self.progress("heading %d" % m.heading)
self.progress("CIRCLE OK for %u seconds" % holdtime)
self.do_RTL()
def wait_attitude(self, desroll=None, despitch=None, timeout=2, tolerance=10):
'''wait for an attitude (degrees)'''
if desroll is None and despitch is None:
raise ValueError("despitch or desroll must be supplied")
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 2:
raise AutoTestTimeoutException("Failed to achieve attitude")
m = self.mav.recv_match(type='ATTITUDE', blocking=True)
roll_deg = math.degrees(m.roll)
pitch_deg = math.degrees(m.pitch)
self.progress("wait_att: roll=%f desroll=%s pitch=%f despitch=%s" %
(roll_deg, desroll, pitch_deg, despitch))
if desroll is not None and abs(roll_deg - desroll) > tolerance:
continue
if despitch is not None and abs(pitch_deg - despitch) > tolerance:
continue
return
def fly_flip(self):
ex = None
try:
self.mavproxy.send("set streamrate -1\n")
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_ATTITUDE, 100)
self.takeoff(20)
self.hover()
old_speedup = self.get_parameter("SIM_SPEEDUP")
self.set_parameter('SIM_SPEEDUP', 1)
self.progress("Flipping in roll")
self.set_rc(1, 1700)
self.mavproxy.send('mode FLIP\n') # don't wait for heartbeat!
self.wait_attitude(despitch=0, desroll=45, tolerance=30)
self.wait_attitude(despitch=0, desroll=90, tolerance=30)
self.wait_attitude(despitch=0, desroll=-45, tolerance=30)
self.progress("Waiting for level")
self.set_rc(1, 1500) # can't change quickly enough!
self.wait_attitude(despitch=0, desroll=0, tolerance=5)
self.progress("Regaining altitude")
self.change_mode('STABILIZE')
self.set_rc(3, 1800)
self.wait_for_alt(20)
self.hover()
self.progress("Flipping in pitch")
self.set_rc(2, 1700)
self.mavproxy.send('mode FLIP\n') # don't wait for heartbeat!
self.wait_attitude(despitch=45, desroll=0, tolerance=30)
# can't check roll here as it flips from 0 to -180..
self.wait_attitude(despitch=90, tolerance=30)
self.wait_attitude(despitch=-45, tolerance=30)
self.progress("Waiting for level")
self.set_rc(1, 1500) # can't change quickly enough!
self.wait_attitude(despitch=0, desroll=0, tolerance=5)
self.set_parameter('SIM_SPEEDUP', old_speedup)
self.change_mode('RTL')
self.mav.motors_disarmed_wait()
except Exception as e:
ex = e
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_ATTITUDE, 0)
sr = self.sitl_streamrate()
self.mavproxy.send("set streamrate %u\n" % sr)
if ex is not None:
raise ex
# fly_optical_flow_limits - test EKF navigation limiting
def fly_optical_flow_limits(self):
ex = None
self.context_push()
try:
self.set_parameter("SIM_FLOW_ENABLE", 1)
self.set_parameter("FLOW_TYPE", 10)
self.set_analog_rangefinder_parameters()
self.set_parameter("SIM_GPS_DISABLE", 1)
self.set_parameter("SIM_TERRAIN", 0)
self.reboot_sitl()
self.takeoff(alt_min=2, require_absolute=False)
self.mavproxy.send('mode loiter\n')
self.wait_mode('LOITER')
# speed should be limited to <10m/s
self.set_rc(2, 1000)
tstart = self.get_sim_time()
timeout = 60
while self.get_sim_time_cached() - tstart < timeout:
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
spd = m.groundspeed
max_speed = 8
self.progress("%0.1f: Low Speed: %f (want <= %u)" %
(self.get_sim_time_cached() - tstart,
spd,
max_speed))
if spd > max_speed:
raise NotAchievedException(("Speed should be limited by"
"EKF optical flow limits"))
self.progress("Moving higher")
self.change_alt(60)
self.wait_groundspeed(10, 100, timeout=60)
except Exception as e:
ex = e
self.set_rc(2, 1500)
self.context_pop()
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex is not None:
raise ex
# fly_autotune - autotune the virtual vehicle
def fly_autotune(self):
self.takeoff(10)
# hold position in loiter
self.mavproxy.send('mode autotune\n')
self.wait_mode('AUTOTUNE')
tstart = self.get_sim_time()
sim_time_expected = 5000
deadline = tstart + sim_time_expected
while self.get_sim_time_cached() < deadline:
now = self.get_sim_time_cached()
m = self.mav.recv_match(type='STATUSTEXT',
blocking=True,
timeout=1)
if m is None:
continue
self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text))
if "AutoTune: Success" in m.text:
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
# near enough for now:
self.change_mode('LAND')
self.mav.motors_disarmed_wait()
return
raise NotAchievedException("AUTOTUNE failed (%u seconds)" %
(self.get_sim_time() - tstart))
# fly_auto_test - fly mission which tests a significant number of commands
def fly_auto_test(self):
# Fly mission #1
self.progress("# Load copter_mission")
# load the waypoint count
num_wp = self.load_mission("copter_mission.txt")
if not num_wp:
raise NotAchievedException("load copter_mission failed")
self.progress("test: Fly a mission from 1 to %u" % num_wp)
self.mavproxy.send('wp set 1\n')
self.change_mode("LOITER")
self.wait_ready_to_arm()
self.arm_vehicle()
# switch into AUTO mode and raise throttle
self.change_mode("AUTO")
self.set_rc(3, 1500)
# fly the mission
self.wait_waypoint(0, num_wp-1, timeout=500)
# set throttle to minimum
self.zero_throttle()
# wait for disarm
self.mav.motors_disarmed_wait()
self.progress("MOTORS DISARMED OK")
self.progress("Auto mission completed: passed!")
def fly_motor_fail(self, fail_servo=0, fail_mul=0.0, holdtime=30):
"""Test flight with reduced motor efficiency"""
# we only expect an octocopter to survive ATM:
servo_counts = {
# 2: 6, # hexa
3: 8, # octa
# 5: 6, # Y6
}
frame_class = int(self.get_parameter("FRAME_CLASS"))
if frame_class not in servo_counts:
self.progress("Test not relevant for frame_class %u" % frame_class)
return
servo_count = servo_counts[frame_class]
if fail_servo < 0 or fail_servo > servo_count:
raise ValueError('fail_servo outside range for frame class')
self.takeoff(10, mode="LOITER")
self.change_alt(alt_min=50)
# Get initial values
start_hud = self.mav.recv_match(type='VFR_HUD', blocking=True)
start_attitude = self.mav.recv_match(type='ATTITUDE', blocking=True)
hover_time = 5
try:
tstart = self.get_sim_time()
int_error_alt = 0
int_error_yaw_rate = 0
int_error_yaw = 0
self.progress("Hovering for %u seconds" % hover_time)
failed = False
while True:
now = self.get_sim_time_cached()
if now - tstart > holdtime + hover_time:
break
servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW',
blocking=True)
hud = self.mav.recv_match(type='VFR_HUD', blocking=True)
attitude = self.mav.recv_match(type='ATTITUDE', blocking=True)
if not failed and now - tstart > hover_time:
self.progress("Killing motor %u (%u%%)" %
(fail_servo+1, fail_mul))
self.set_parameter("SIM_ENGINE_FAIL", fail_servo)
self.set_parameter("SIM_ENGINE_MUL", fail_mul)
failed = True
if failed:
self.progress("Hold Time: %f/%f" % (now-tstart, holdtime))
servo_pwm = [servo.servo1_raw,
servo.servo2_raw,
servo.servo3_raw,
servo.servo4_raw,
servo.servo5_raw,
servo.servo6_raw,
servo.servo7_raw,
servo.servo8_raw]
self.progress("PWM output per motor")
for i, pwm in enumerate(servo_pwm[0:servo_count]):
if pwm > 1900:
state = "oversaturated"
elif pwm < 1200:
state = "undersaturated"
else:
state = "OK"
if failed and i == fail_servo:
state += " (failed)"
self.progress("servo %u [pwm=%u] [%s]" % (i+1, pwm, state))
alt_delta = hud.alt - start_hud.alt
yawrate_delta = attitude.yawspeed - start_attitude.yawspeed
yaw_delta = attitude.yaw - start_attitude.yaw
self.progress("Alt=%fm (delta=%fm)" % (hud.alt, alt_delta))
self.progress("Yaw rate=%f (delta=%f) (rad/s)" %
(attitude.yawspeed, yawrate_delta))
self.progress("Yaw=%f (delta=%f) (deg)" %
(attitude.yaw, yaw_delta))
dt = self.get_sim_time() - now
int_error_alt += abs(alt_delta/dt)
int_error_yaw_rate += abs(yawrate_delta/dt)
int_error_yaw += abs(yaw_delta/dt)
self.progress("## Error Integration ##")
self.progress(" Altitude: %fm" % int_error_alt)
self.progress(" Yaw rate: %f rad/s" % int_error_yaw_rate)
self.progress(" Yaw: %f deg" % int_error_yaw)
self.progress("----")
if int_error_yaw_rate > 0.1:
raise NotAchievedException("Vehicle is spinning")
if alt_delta < -20:
raise NotAchievedException("Vehicle is descending")
self.set_parameter("SIM_ENGINE_FAIL", 0)
self.set_parameter("SIM_ENGINE_MUL", 1.0)
except Exception as e:
self.set_parameter("SIM_ENGINE_FAIL", 0)
self.set_parameter("SIM_ENGINE_MUL", 1.0)
raise e
self.do_RTL()
def fly_vision_position(self):
"""Disable GPS navigation, enable Vicon input."""
# scribble down a location we can set origin to:
self.progress("Waiting for location")
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_heartbeat()
self.wait_mode('STABILIZE')
self.wait_ready_to_arm()
old_pos = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
print("old_pos=%s" % str(old_pos))
self.context_push()
ex = None
try:
self.set_parameter("GPS_TYPE", 0)
self.set_parameter("EK2_GPS_TYPE", 3)
self.set_parameter("SERIAL5_PROTOCOL", 1)
self.reboot_sitl()
# without a GPS or some sort of external prompting, AP
# doesn't send system_time messages. So prompt it:
self.mav.mav.system_time_send(int(time.time() * 1000000), 0)
self.progress("Waiting for non-zero-lat")
tstart = self.get_sim_time()
while True:
self.mav.mav.set_gps_global_origin_send(1,
old_pos.lat,
old_pos.lon,
old_pos.alt)
gpi = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
self.progress("gpi=%s" % str(gpi))
if gpi.lat != 0:
break
if self.get_sim_time_cached() - tstart > 60:
raise AutoTestTimeoutException("Did not get non-zero lat")
self.takeoff()
self.set_rc(1, 1600)
tstart = self.get_sim_time()
while True:
vicon_pos = self.mav.recv_match(type='VICON_POSITION_ESTIMATE',
blocking=True)
# print("vpe=%s" % str(vicon_pos))
self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
# self.progress("gpi=%s" % str(gpi))
if vicon_pos.x > 40:
break
if self.get_sim_time_cached() - tstart > 100:
raise AutoTestTimeoutException("Vicon showed no movement")
# recenter controls:
self.set_rc(1, 1500)
self.progress("# Enter RTL")
self.mavproxy.send('switch 3\n')
self.set_rc(3, 1500)
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 200:
raise NotAchievedException("Did not disarm")
self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
# print("gpi=%s" % str(gpi))
self.mav.recv_match(type='SIMSTATE',
blocking=True)
# print("ss=%s" % str(ss))
# wait for RTL disarm:
if not self.armed():
break
except Exception as e:
self.progress("Exception caught: %s" % (
self.get_exception_stacktrace(e)))
ex = e
self.context_pop()
self.zero_throttle()
self.reboot_sitl()
if ex is not None:
raise ex
def fly_rtl_speed(self):
"""Test RTL Speed parameters"""
rtl_speed_ms = 7
wpnav_speed_ms = 4
wpnav_accel_mss = 3
tolerance = 0.5
self.load_mission("copter_rtl_speed.txt")
self.set_parameter('WPNAV_ACCEL', wpnav_accel_mss * 100)
self.set_parameter('RTL_SPEED', rtl_speed_ms * 100)
self.set_parameter('WPNAV_SPEED', wpnav_speed_ms * 100)
self.change_mode('LOITER')
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('AUTO')
self.set_rc(3, 1600)
self.wait_altitude(19, 25, relative=True)
self.wait_groundspeed(wpnav_speed_ms-tolerance, wpnav_speed_ms+tolerance)
self.monitor_groundspeed(wpnav_speed_ms, timeout=20)
self.change_mode('RTL')
self.wait_groundspeed(rtl_speed_ms-tolerance, rtl_speed_ms+tolerance)
self.monitor_groundspeed(rtl_speed_ms, timeout=5)
self.change_mode('AUTO')
self.wait_groundspeed(0-tolerance, 0+tolerance)
self.wait_groundspeed(wpnav_speed_ms-tolerance, wpnav_speed_ms+tolerance)
self.monitor_groundspeed(wpnav_speed_ms, timeout=5)
self.change_mode('RTL')
self.mav.motors_disarmed_wait()
def fly_nav_delay(self):
"""Fly a simple mission that has a delay in it."""
self.load_mission("copter_nav_delay.txt")
self.set_parameter("DISARM_DELAY", 0)
self.change_mode("LOITER")
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode("AUTO")
self.set_rc(3, 1600)
count_start = -1
count_stop = -1
tstart = self.get_sim_time()
last_mission_current_msg = 0
last_seq = None
while self.armed(): # we RTL at end of mission
now = self.get_sim_time_cached()
if now - tstart > 120:
raise AutoTestTimeoutException("Did not disarm as expected")
m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
at_delay_item = ""
if m.seq == 3:
at_delay_item = "(At delay item)"
if count_start == -1:
count_start = now
if ((now - last_mission_current_msg) > 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 %s" %
(m.seq, dist, at_delay_item))
last_mission_current_msg = self.get_sim_time_cached()
last_seq = m.seq
if m.seq > 3:
if count_stop == -1:
count_stop = now
calculated_delay = count_stop - count_start
want_delay = 59 # should reflect what's in the mission file
self.progress("Stopped for %u seconds (want >=%u seconds)" %
(calculated_delay, want_delay))
if calculated_delay < want_delay:
raise NotAchievedException("Did not delay for long enough")
def test_rangefinder(self):
ex = None
self.context_push()
self.progress("Making sure we don't ordinarily get RANGEFINDER")
try:
m = self.mav.recv_match(type='RANGEFINDER',
blocking=True,
timeout=5)
except Exception as e:
print("Caught exception %s" % str(e))
if m is not None:
raise NotAchievedException("Received unexpected RANGEFINDER msg")
# may need to force a rotation if some other test has used the
# rangefinder...
self.progress("Ensure no RFND messages in log")
if self.current_onboard_log_contains_message("RFND"):
raise NotAchievedException("Found unexpected RFND message")
try:
self.set_analog_rangefinder_parameters()
self.set_parameter("RC9_OPTION", 10) # rangefinder
self.set_rc(9, 2000)
self.reboot_sitl()
self.progress("Making sure we now get RANGEFINDER messages")
m = self.mav.recv_match(type='RANGEFINDER',
blocking=True,
timeout=10)
if m is None:
raise NotAchievedException("Did not get expected RANGEFINDER msg")
self.progress("Checking RangeFinder is marked as enabled in mavlink")
m = self.mav.recv_match(type='SYS_STATUS',
blocking=True,
timeout=10)
flags = m.onboard_control_sensors_enabled
if not flags & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION:
raise NotAchievedException("Laser not enabled in SYS_STATUS")
self.progress("Disabling laser using switch")
self.set_rc(9, 1000)
self.delay_sim_time(1)
self.progress("Checking RangeFinder is marked as disabled in mavlink")
m = self.mav.recv_match(type='SYS_STATUS',
blocking=True,
timeout=10)
flags = m.onboard_control_sensors_enabled
if flags & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION:
raise NotAchievedException("Laser enabled in SYS_STATUS")
self.progress("Re-enabling rangefinder")
self.set_rc(9, 2000)
self.delay_sim_time(1)
m = self.mav.recv_match(type='SYS_STATUS',
blocking=True,
timeout=10)
flags = m.onboard_control_sensors_enabled
if not flags & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION:
raise NotAchievedException("Laser not enabled in SYS_STATUS")
self.takeoff(10, mode="LOITER")
m_r = self.mav.recv_match(type='RANGEFINDER',
blocking=True)
m_p = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
if abs(m_r.distance - m_p.relative_alt/1000) > 1:
raise NotAchievedException("rangefinder/global position int mismatch")
self.land_and_disarm()
if not self.current_onboard_log_contains_message("RFND"):
raise NotAchievedException("Did not see expected RFND message")
except Exception as e:
self.progress("Exception caught: %s" % (
self.get_exception_stacktrace(e)))
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def test_surface_tracking(self):
ex = None
self.context_push()
try:
self.set_analog_rangefinder_parameters()
self.set_parameter("RC9_OPTION", 10) # rangefinder
self.set_rc(9, 2000)
self.reboot_sitl() # needed for both rangefinder and initial position
self.assert_vehicle_location_is_at_startup_location()
self.takeoff(10, mode="LOITER")
lower_surface_pos = mavutil.location(-35.362421, 149.164534, 584, 270)
here = self.mav.location()
bearing = self.get_bearing(here, lower_surface_pos)
self.change_mode("GUIDED")
self.guided_achieve_heading(bearing)
self.change_mode("LOITER")
self.delay_sim_time(2)
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
orig_absolute_alt_mm = m.alt
self.progress("Original alt: absolute=%f" % orig_absolute_alt_mm)
self.progress("Flying somewhere which surface is known lower compared to takeoff point")
self.set_rc(2, 1450)
tstart = self.get_sim_time()
while True:
if self.get_sim_time() - tstart > 200:
raise NotAchievedException("Did not reach lower point")
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
x = mavutil.location(m.lat/1e7, m.lon/1e7, m.alt/1e3, 0)
dist = self.get_distance(x, lower_surface_pos)
delta = (orig_absolute_alt_mm - m.alt)/1000.0
self.progress("Distance: %fm abs-alt-delta: %fm" %
(dist, delta))
if dist < 15:
if delta < 0.8:
raise NotAchievedException("Did not dip in altitude as expected")
break
self.set_rc(2, 1500)
self.do_RTL()
except Exception as e:
self.progress("Exception caught: %s" % (
self.get_exception_stacktrace(e)))
self.disarm_vehicle(force=True)
ex = e
self.context_pop()
self.reboot_sitl()
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.progress("Test triggering parachute in mission")
self.load_mission("copter_parachute_mission.txt")
self.change_mode('LOITER')
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('AUTO')
self.set_rc(3, 1600)
self.mavproxy.expect('BANG')
self.reboot_sitl()
self.progress("Test triggering with mavlink message")
self.takeoff(20)
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_PARACHUTE,
2, # release
0,
0,
0,
0,
0,
0)
self.mavproxy.expect('BANG')
self.reboot_sitl()
self.progress("Testing three-position switch")
self.set_parameter("RC9_OPTION", 23) # parachute 3pos
self.progress("Test manual triggering")
self.takeoff(20)
self.set_rc(9, 2000)
self.mavproxy.expect('BANG')
self.set_rc(9, 1000)
self.reboot_sitl()
self.context_push()
self.progress("Crashing with 3pos switch in enable position")
self.takeoff(40)
self.set_rc(9, 1500)
self.set_parameter("SIM_ENGINE_MUL", 0)
self.set_parameter("SIM_ENGINE_FAIL", 1)
self.mavproxy.expect('BANG')
self.set_rc(9, 1000)
self.reboot_sitl()
self.context_pop()
self.progress("Crashing with 3pos switch in disable position")
loiter_alt = 10
self.takeoff(loiter_alt, mode='LOITER')
self.set_rc(9, 1100)
self.set_parameter("SIM_ENGINE_MUL", 0)
self.set_parameter("SIM_ENGINE_FAIL", 1)
tstart = self.get_sim_time()
while self.get_sim_time_cached() < tstart + 5:
m = self.mav.recv_match(type='STATUSTEXT', blocking=True, timeout=1)
if m is None:
continue
if "BANG" in m.text:
self.set_rc(9, 1000)
self.reboot_sitl()
raise NotAchievedException("Parachute deployed when disabled")
self.set_rc(9, 1000)
self.reboot_sitl()
def fly_precision_sitl(self):
"""Use SITL PrecLand backend precision messages to land aircraft."""
self.context_push()
ex = None
try:
self.set_parameter("PLND_ENABLED", 1)
self.fetch_parameters()
self.set_parameter("PLND_TYPE", 4)
self.set_analog_rangefinder_parameters()
self.set_parameter("SIM_SONAR_SCALE", 12)
start = self.mav.location()
target = start
(target.lat, target.lng) = mavextra.gps_offset(start.lat, start.lng, 4, -4)
self.progress("Setting target to %f %f" % (target.lat, target.lng))
self.set_parameter("SIM_PLD_ENABLE", 1)
self.set_parameter("SIM_PLD_LAT", target.lat)
self.set_parameter("SIM_PLD_LON", target.lng)
self.set_parameter("SIM_PLD_HEIGHT", 0)
self.set_parameter("SIM_PLD_ALT_LMT", 15)
self.set_parameter("SIM_PLD_DIST_LMT", 10)
self.reboot_sitl()
self.progress("Waiting for location")
old_pos = self.mav.location()
self.zero_throttle()
self.takeoff(10, 1800)
self.change_mode("LAND")
self.mav.motors_disarmed_wait()
self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
new_pos = self.mav.location()
delta = self.get_distance(target, new_pos)
self.progress("Landed %f metres from target position" % delta)
max_delta = 1
if delta > max_delta:
raise NotAchievedException("Did not land close enough to target position (%fm > %fm" % (delta, max_delta))
if not self.current_onboard_log_contains_message("PL"):
raise NotAchievedException("Did not see expected PL message")
except Exception as e:
self.progress("Exception caught (%s)" % str(e))
ex = e
self.zero_throttle()
self.context_pop()
self.reboot_sitl()
self.progress("All done")
if ex is not None:
raise ex
def get_system_clock_utc(self, time_seconds):
# this is a copy of ArduPilot's AP_RTC function!
# separate time into ms, sec, min, hour and days but all expressed
# in milliseconds
time_ms = time_seconds * 1000
ms = time_ms % 1000
sec_ms = (time_ms % (60 * 1000)) - ms
min_ms = (time_ms % (60 * 60 * 1000)) - sec_ms - ms
hour_ms = (time_ms % (24 * 60 * 60 * 1000)) - min_ms - sec_ms - ms
# convert times as milliseconds into appropriate units
secs = sec_ms / 1000
mins = min_ms / (60 * 1000)
hours = hour_ms / (60 * 60 * 1000)
return (hours, mins, secs, 0)
def calc_delay(self, seconds):
# delay-for-seconds has to be long enough that we're at the
# waypoint before that time. Otherwise we'll try to wait a
# day....
(hours,
mins,
secs,
ms) = self.get_system_clock_utc(seconds)
self.progress("Now is %uh %um %us" % (hours, mins, secs))
secs += 17 # add seventeen seconds
if secs >= 60:
secs %= 60
mins += 1 # add sixty seconds
mins += 1
if mins >= 60:
mins %= 60
hours += 1
if hours >= 24:
hours %= 24
return (hours, mins, secs, 0)
def reset_delay_item_seventyseven(self, seq):
while True:
self.progress("Requesting request for seq %u" % (seq,))
self.mav.mav.mission_write_partial_list_send(1, # target system
1, # target component
seq, # start index
seq)
req = self.mav.recv_match(type='MISSION_REQUEST',
blocking=True,
timeout=1)
if req is not None and req.seq == seq:
if req.get_srcSystem() == 255:
self.progress("Shutup MAVProxy")
continue
# notionally this might be in the message cache before
# we prompt for it... *shrug*
break
# we have received a request for the item. Supply it:
frame = mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT
command = mavutil.mavlink.MAV_CMD_NAV_DELAY
# retrieve mission item and check it:
tried_set = False
hours = None
mins = None
secs = None
while True:
self.progress("Requesting item")
self.mav.mav.mission_request_send(1,
1,
seq)
st = self.mav.recv_match(type='MISSION_ITEM',
blocking=True,
timeout=1)
if st is None:
continue
print("Item: %s" % str(st))
have_match = (tried_set and
st.seq == seq and
st.command == command and
st.param2 == hours and
st.param3 == mins and
st.param4 == secs)
if have_match:
return
self.progress("Mission mismatch")
m = None
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 3:
raise NotAchievedException(
"Did not receive MISSION_REQUEST")
self.mav.mav.mission_write_partial_list_send(1,
1,
seq,
seq)
m = self.mav.recv_match(type='MISSION_REQUEST',
blocking=True,
timeout=1)
if m is None:
continue
if m.seq != st.seq:
continue
break
self.progress("Sending absolute-time mission item")
# we have to change out the delay time...
now = self.mav.messages["SYSTEM_TIME"]
if now is None:
raise PreconditionFailedException("Never got SYSTEM_TIME")
if now.time_unix_usec == 0:
raise PreconditionFailedException("system time is zero")
(hours, mins, secs, ms) = self.calc_delay(
now.time_unix_usec/1000000)
self.progress("Delay until %uh %um %us" %
(hours, mins, secs))
self.mav.mav.mission_item_send(
1, # target system
1, # target component
seq, # seq
frame, # frame
command, # command
0, # current
1, # autocontinue
0, # p1 (relative seconds)
hours, # p2
mins, # p3
secs, # p4
0, # p5
0, # p6
0) # p7
tried_set = True
ack = self.mav.recv_match(type='MISSION_ACK',
blocking=True,
timeout=1)
self.progress("Received ack: %s" % str(ack))
def fly_nav_delay_abstime(self):
"""fly a simple mission that has a delay in it"""
self.load_mission("copter_nav_delay.txt")
self.change_mode("LOITER")
self.wait_ready_to_arm()
delay_item_seq = 3
self.reset_delay_item_seventyseven(delay_item_seq)
delay_for_seconds = 77
reset_at_m = self.mav.recv_match(type='SYSTEM_TIME', blocking=True)
reset_at = reset_at_m.time_unix_usec/1000000
self.arm_vehicle()
self.change_mode("AUTO")
self.set_rc(3, 1600)
count_stop = -1
tstart = self.get_sim_time()
while self.armed(): # we RTL at end of mission
now = self.get_sim_time_cached()
if now - tstart > 120:
raise AutoTestTimeoutException("Did not disarm as expected")
m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
at_delay_item = ""
if m.seq == delay_item_seq:
at_delay_item = "(delay item)"
self.progress("MISSION_CURRENT.seq=%u %s" % (m.seq, at_delay_item))
if m.seq > delay_item_seq:
if count_stop == -1:
count_stop_m = self.mav.recv_match(type='SYSTEM_TIME',
blocking=True)
count_stop = count_stop_m.time_unix_usec/1000000
calculated_delay = count_stop - reset_at
error = abs(calculated_delay - delay_for_seconds)
self.progress("Stopped for %u seconds (want >=%u seconds)" %
(calculated_delay, delay_for_seconds))
if error > 2:
raise NotAchievedException("delay outside expectations")
def fly_nav_takeoff_delay_abstime(self):
"""make sure taking off at a specific time works"""
self.load_mission("copter_nav_delay_takeoff.txt")
self.change_mode("LOITER")
self.wait_ready_to_arm()
delay_item_seq = 2
self.reset_delay_item_seventyseven(delay_item_seq)
delay_for_seconds = 77
reset_at = self.get_sim_time_cached()
self.arm_vehicle()
self.change_mode("AUTO")
self.set_rc(3, 1600)
# should not take off for about least 77 seconds
tstart = self.get_sim_time()
took_off = False
while self.armed():
now = self.get_sim_time_cached()
if now - tstart > 200:
# timeout
break
m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
now = self.get_sim_time_cached()
self.progress("%s" % str(m))
if m.seq > delay_item_seq:
if not took_off:
took_off = True
delta_time = now - reset_at
if abs(delta_time - delay_for_seconds) > 2:
raise NotAchievedException((
"Did not take off on time "
"measured=%f want=%f" %
(delta_time, delay_for_seconds)))
if not took_off:
raise NotAchievedException("Did not take off")
def fly_zigzag_mode(self):
'''test zigzag mode'''
# set channel 8 for zigzag savewp and recentre it
self.set_parameter("RC8_OPTION", 61)
self.takeoff(alt_min=5, mode='LOITER')
ZIGZAG = 24
j=0
while j<4: # conduct test for all 4 directions
self.set_rc(8, 1500)
self.set_rc(4, 1420)
self.wait_heading(352-j*90) # align heading with the run-way
self.set_rc(4, 1500)
self.change_mode(ZIGZAG)
self.set_rc(8, 1100) # record point A
self.set_rc(1, 1700) # fly side-way for 20m
self.wait_distance(20)
self.set_rc(1, 1500)
self.wait_groundspeed(0, 0.20) # wait until the copter slows down
self.set_rc(8, 1500) # pilot always have to cross mid position when changing for low to high position
self.set_rc(8, 1900) # record point B
i=1
while i<2: # run zigzag A->B and B->A for 5 times
self.set_rc(2, 1300) # fly forward for 10 meter
self.wait_distance(10)
self.set_rc(2, 1500) # re-centre pitch rc control
self.wait_groundspeed(0, 0.2) #wait until the copter slows down
self.set_rc(8, 1500) # switch to mid position
self.set_rc(8, 1100) # auto execute vector BA
self.wait_distance(17) # wait for it to finish
self.wait_groundspeed(0, 0.2) #wait until the copter slows down
self.set_rc(2, 1300) # fly forward for 10 meter
self.wait_distance(10)
self.set_rc(2, 1500) # re-centre pitch rc control
self.wait_groundspeed(0, 0.2) #wait until the copter slows down
self.set_rc(8, 1500) # switch to mid position
self.set_rc(8, 1900) # auto execute vector AB
self.wait_distance(17) # wait for it to finish
self.wait_groundspeed(0, 0.2) #wait until the copter slows down
i=i+1
# test the case when pilot switch to manual control during the auto flight
self.set_rc(2, 1300) # fly forward for 10 meter
self.wait_distance(10)
self.set_rc(2, 1500) # re-centre pitch rc control
self.wait_groundspeed(0, 0.2) #wait until the copter slows down
self.set_rc(8, 1500) # switch to mid position
self.set_rc(8, 1100) # switch to low position, auto execute vector BA
self.wait_distance(8) # purposely switch to manual halfway
self.set_rc(8, 1500)
self.wait_groundspeed(0, 0.2) # copter should slow down here
self.set_rc(2, 1300) # manual control to fly forward
self.wait_distance(8)
self.set_rc(2, 1500) # re-centre pitch rc control
self.wait_groundspeed(0, 0.2) # wait until the copter slows down
self.set_rc(8, 1100) # copter should continue mission here
self.wait_distance(8) # wait for it to finish rest of BA
self.wait_groundspeed(0, 0.2) #wait until the copter slows down
self.set_rc(8, 1500) # switch to mid position
self.set_rc(8, 1900) # switch to execute AB again
self.wait_distance(17) # wait for it to finish
self.wait_groundspeed(0, 0.2) # wait until the copter slows down
self.change_mode('LOITER')
j=j+1
self.do_RTL()
def test_setting_modes_via_modeswitch(self):
self.context_push()
ex = None
try:
fltmode_ch = 5
self.set_parameter("FLTMODE_CH", fltmode_ch)
self.set_rc(fltmode_ch, 1000) # PWM for mode1
testmodes = [("FLTMODE1", 4, "GUIDED", 1165),
("FLTMODE2", 13, "SPORT", 1295),
("FLTMODE3", 6, "RTL", 1425),
("FLTMODE4", 7, "CIRCLE", 1555),
("FLTMODE5", 1, "ACRO", 1685),
("FLTMODE6", 17, "BRAKE", 1815),
]
for mode in testmodes:
(parm, parm_value, name, pwm) = mode
self.set_parameter(parm, parm_value)
for mode in reversed(testmodes):
(parm, parm_value, name, pwm) = mode
self.set_rc(fltmode_ch, pwm)
self.wait_mode(name)
for mode in testmodes:
(parm, parm_value, name, pwm) = mode
self.set_rc(fltmode_ch, pwm)
self.wait_mode(name)
for mode in reversed(testmodes):
(parm, parm_value, name, pwm) = mode
self.set_rc(fltmode_ch, pwm)
self.wait_mode(name)
self.mavproxy.send('switch 6\n')
self.wait_mode("BRAKE")
self.mavproxy.send('switch 5\n')
self.wait_mode("ACRO")
except Exception as e:
self.progress("Exception caught: %s" % (
self.get_exception_stacktrace(e)))
ex = e
self.context_pop()
if ex is not None:
raise ex
def test_setting_modes_via_auxswitch(self):
self.context_push()
ex = None
try:
fltmode_ch = int(self.get_parameter("FLTMODE_CH"))
self.set_rc(fltmode_ch, 1000)
self.wait_mode("CIRCLE")
self.set_rc(9, 1000)
self.set_rc(10, 1000)
self.set_parameter("RC9_OPTION", 18) # land
self.set_parameter("RC10_OPTION", 55) # guided
self.set_rc(9, 1900)
self.wait_mode("LAND")
self.set_rc(10, 1900)
self.wait_mode("GUIDED")
self.set_rc(10, 1000) # this re-polls the mode switch
self.wait_mode("CIRCLE")
except Exception as e:
self.progress("Exception caught: %s" % (
self.get_exception_stacktrace(e)))
ex = e
self.context_pop()
if ex is not None:
raise ex
def fly_guided_stop(self,
timeout=20,
groundspeed_tolerance=0.05,
climb_tolerance=0.001):
"""stop the vehicle moving in guided mode"""
self.progress("Stopping vehicle")
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Vehicle did not stop")
# send a position-control command
self.mav.mav.set_position_target_local_ned_send(
0, # timestamp
1, # target system_id
1, # target component id
mavutil.mavlink.MAV_FRAME_BODY_NED,
0b1111111111111000, # mask specifying use-only-x-y-z
0, # x
0, # y
0, # z
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
print("%s" % str(m))
if (m.groundspeed < groundspeed_tolerance and
m.climb < climb_tolerance):
break
def fly_guided_move_global_relative_alt(self, lat, lon, alt):
startpos = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 200:
raise NotAchievedException("Did not move far enough")
# send a position-control command
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
1, # target system_id
1, # target component id
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
0b1111111111111000, # mask specifying use-only-lat-lon-alt
lat, # lat
lon, # lon
alt, # alt
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
pos = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
delta = self.get_distance_int(startpos, pos)
self.progress("delta=%f (want >10)" % delta)
if delta > 10:
break
def fly_guided_move_local(self, x, y, z_up, timeout=100):
"""move the vehicle using MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED"""
startpos = self.mav.recv_match(type='LOCAL_POSITION_NED', blocking=True)
self.progress("startpos=%s" % str(startpos))
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Did not start to move")
# send a position-control command
self.mav.mav.set_position_target_local_ned_send(
0, # timestamp
1, # target system_id
1, # target component id
mavutil.mavlink.MAV_FRAME_LOCAL_NED,
0b1111111111111000, # mask specifying use-only-x-y-z
x, # x
y, # y
-z_up,# z
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
print("%s" % m)
if m.groundspeed > 0.5:
break
self.progress("Waiting for vehicle to stop...")
self.wait_groundspeed(1, 100, timeout=timeout)
stoppos = self.mav.recv_match(type='LOCAL_POSITION_NED', blocking=True)
self.progress("stop_pos=%s" % str(stoppos))
x_achieved = stoppos.x - startpos.x
if x_achieved - x > 1:
raise NotAchievedException("Did not achieve x position: want=%f got=%f" % (x, x_achieved))
y_achieved = stoppos.y - startpos.y
if y_achieved - y > 1:
raise NotAchievedException("Did not achieve y position: want=%f got=%f" % (y, y_achieved))
z_achieved = stoppos.z - startpos.z
if z_achieved - z_up > 1:
raise NotAchievedException("Did not achieve z position: want=%f got=%f" % (z_up, z_achieved))
def test_guided_local_position_target(self, x, y, z_up):
""" Check target position being received by vehicle """
# set POSITION_TARGET_LOCAL_NED message rate using SET_MESSAGE_INTERVAL
self.progress("Setting local target in NED: (%f, %f, %f)" % (x, y, -z_up))
self.progress("Setting rate to 1 Hz")
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, 1)
# set position target
self.mav.mav.set_position_target_local_ned_send(
0, # timestamp
1, # target system_id
1, # target component id
mavutil.mavlink.MAV_FRAME_LOCAL_NED,
0b1111111111111000, # mask specifying use only xyz
x, # x
y, # y
-z_up, # z
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
m = self.mav.recv_match(type='POSITION_TARGET_LOCAL_NED', blocking=True, timeout=2)
self.progress("Received local target: %s" % str(m))
if not (m.type_mask == 0xFFF8 or m.type_mask == 0x0FF8):
raise NotAchievedException("Did not receive proper mask: expected=65528 or 4088, got=%u" % m.type_mask)
if x - m.x > 0.1:
raise NotAchievedException("Did not receive proper target position x: wanted=%f got=%f" % (x, m.x))
if y - m.y > 0.1:
raise NotAchievedException("Did not receive proper target position y: wanted=%f got=%f" % (y, m.y))
if z_up - (-m.z) > 0.1:
raise NotAchievedException("Did not receive proper target position z: wanted=%f got=%f" % (z_up, -m.z))
def test_guided_local_velocity_target(self, vx, vy, vz_up, timeout=3):
" Check local target velocity being recieved by vehicle "
self.progress("Setting local NED velocity target: (%f, %f, %f)" %(vx, vy, -vz_up))
self.progress("Setting POSITION_TARGET_LOCAL_NED message rate to 10Hz")
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, 10)
# Drain old messages and ignore the ramp-up to the required target velocity
tstart = self.get_sim_time()
while self.get_sim_time_cached() - tstart < timeout:
# send velocity-control command
self.mav.mav.set_position_target_local_ned_send(
0, # timestamp
1, # target system_id
1, # target component id
mavutil.mavlink.MAV_FRAME_LOCAL_NED,
0b1111111111000111, # mask specifying use only vx,vy,vz
0, # x
0, # y
0, # z
vx, # vx
vy, # vy
-vz_up, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
m = self.mav.recv_match(type='POSITION_TARGET_LOCAL_NED', blocking=True, timeout=1)
if m is None:
raise NotAchievedException("Did not receive any message for 1 sec")
self.progress("Received local target: %s" % str(m))
# Check the last received message
if not (m.type_mask == 0xFFC7 or m.type_mask == 0x0FC7):
raise NotAchievedException("Did not receive proper mask: expected=65479 or 4039, got=%u" % m.type_mask)
if vx - m.vx > 0.1:
raise NotAchievedException("Did not receive proper target velocity vx: wanted=%f got=%f" % (vx, m.vx))
if vy - m.vy > 0.1:
raise NotAchievedException("Did not receive proper target velocity vy: wanted=%f got=%f" % (vy, m.vy))
if vz_up - (-m.vz) > 0.1:
raise NotAchievedException("Did not receive proper target velocity vz: wanted=%f got=%f" % (vz_up, -m.vz))
self.progress("Received proper target velocity commands")
def test_position_target_message_mode(self):
" Ensure that POSITION_TARGET_LOCAL_NED messages are sent in Guided Mode only "
self.hover()
self.change_mode('LOITER')
self.progress("Setting POSITION_TARGET_LOCAL_NED message rate to 10Hz")
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, 10)
tstart = self.get_sim_time()
while self.get_sim_time_cached() < tstart + 5:
m = self.mav.recv_match(type='POSITION_TARGET_LOCAL_NED', blocking=True, timeout=1)
if m is None:
continue
raise NotAchievedException("Received POSITION_TARGET message in LOITER mode: %s" % str(m))
self.progress("Did not receive any POSITION_TARGET_LOCAL_NED message in LOITER mode. Success")
def earth_to_body(self, vector):
m = self.mav.messages["ATTITUDE"]
x = rotmat.Vector3(m.roll, m.pitch, m.yaw)
# print('r=%f p=%f y=%f' % (m.roll, m.pitch, m.yaw))
return vector - x
def loiter_to_ne(self, x, y, z, timeout=30):
dest = rotmat.Vector3(x, y, z)
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Did not loiter to ne!")
m_pos = self.mav.recv_match(type='LOCAL_POSITION_NED',
blocking=True)
pos = rotmat.Vector3(m_pos.x, m_pos.y, m_pos.z)
delta_ef = pos - dest
dist = math.sqrt(delta_ef.x * delta_ef.x + delta_ef.y * delta_ef.y)
dist_max = 2
self.progress("dist=%f want <%f" % (dist, dist_max))
if dist < dist_max:
break
delta_bf = self.earth_to_body(delta_ef)
angle_x = math.atan2(delta_bf.x, delta_bf.z)
angle_y = math.atan2(delta_bf.y, delta_bf.z)
distance = math.sqrt(delta_bf.x * delta_bf.x +
delta_bf.y * delta_bf.y +
delta_bf.z * delta_bf.z)
self.mav.mav.landing_target_send(
0, # time_usec
1, # target_num
mavutil.mavlink.MAV_FRAME_GLOBAL, # frame; AP ignores
angle_x, # angle x (radians)
angle_y, # angle y (radians)
distance, # distance to target
0.01, # size of target in radians, X-axis
0.01 # size of target in radians, Y-axis
)
tstart = self.get_sim_time()
while self.get_sim_time_cached() - tstart < 10:
m_pos = self.mav.recv_match(type='LOCAL_POSITION_NED',
blocking=True)
pos = rotmat.Vector3(m_pos.x, m_pos.y, m_pos.z)
delta_ef = pos - dest
dist = math.sqrt(delta_ef.x * delta_ef.x + delta_ef.y * delta_ef.y)
self.progress("dist=%f" % (dist,))
def fly_payload_place_mission(self):
"""Test payload placing in auto."""
self.context_push()
ex = None
try:
self.set_analog_rangefinder_parameters()
self.set_parameter("GRIP_ENABLE", 1)
self.set_parameter("GRIP_TYPE", 1)
self.set_parameter("SIM_GRPS_ENABLE", 1)
self.set_parameter("SIM_GRPS_PIN", 8)
self.set_parameter("SERVO8_FUNCTION", 28)
self.set_parameter("RC9_OPTION", 19)
self.reboot_sitl()
self.set_rc(9, 2000)
# load the mission:
self.load_mission("copter_payload_place.txt")
self.progress("Waiting for location")
self.mav.location()
self.zero_throttle()
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_heartbeat()
self.wait_mode('STABILIZE')
self.wait_ready_to_arm()
self.arm_vehicle()
self.mavproxy.send('switch 4\n') # auto mode
self.wait_heartbeat()
self.wait_mode('AUTO')
self.set_rc(3, 1500)
self.wait_text("Gripper load releas", timeout=90)
self.mav.motors_disarmed_wait()
except Exception as e:
self.progress("Exception caught: %s" % (
self.get_exception_stacktrace(e)))
ex = e
self.context_pop()
self.reboot_sitl()
self.progress("All done")
if ex is not None:
raise ex
def fly_guided_change_submode(self):
""""Ensure we can move around in guided after a takeoff command."""
'''start by disabling GCS failsafe, otherwise we immediately disarm
due to (apparently) not receiving traffic from the GCS for
too long. This is probably a function of --speedup'''
self.set_parameter("FS_GCS_ENABLE", 0)
self.set_parameter("DISARM_DELAY", 0) # until traffic problems are fixed
self.change_mode("GUIDED")
self.wait_ready_to_arm()
self.arm_vehicle()
self.user_takeoff(alt_min=10)
"""yaw through absolute angles using MAV_CMD_CONDITION_YAW"""
self.guided_achieve_heading(45)
self.guided_achieve_heading(135)
"""move the vehicle using set_position_target_global_int"""
self.fly_guided_move_global_relative_alt(5, 5, 10)
"""move the vehicle using MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED"""
self.fly_guided_stop()
self.fly_guided_move_local(5, 5, 10)
""" Check target position received by vehicle using SET_MESSAGE_INTERVAL """
self.test_guided_local_position_target(5, 5, 10)
self.test_guided_local_velocity_target(2, 2, 1)
self.test_position_target_message_mode()
self.do_RTL()
def test_gripper_mission(self):
self.context_push()
ex = None
try:
self.load_mission("copter-gripper-mission.txt")
self.mavproxy.send('mode loiter\n')
self.wait_ready_to_arm()
self.assert_vehicle_location_is_at_startup_location()
self.arm_vehicle()
self.mavproxy.send('mode auto\n')
self.wait_mode('AUTO')
self.set_rc(3, 1500)
self.mavproxy.expect("Gripper Grabbed")
self.mavproxy.expect("Gripper Released")
except Exception as e:
self.progress("Exception caught: %s" % (
self.get_exception_stacktrace(e)))
self.mavproxy.send('mode land\n')
ex = e
self.context_pop()
self.mav.motors_disarmed_wait()
if ex is not None:
raise ex
def fly_manual_throttle_mode_change(self):
self.set_parameter("FS_GCS_ENABLE", 0) # avoid GUIDED instant disarm
self.change_mode("STABILIZE")
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode("ACRO")
self.change_mode("STABILIZE")
self.change_mode("GUIDED")
self.set_rc(3, 1700)
self.watch_altitude_maintained(-1, 0.2) # should not take off in guided
self.run_cmd_do_set_mode(
"ACRO",
want_result=mavutil.mavlink.MAV_RESULT_UNSUPPORTED) # should fix this result code!
self.run_cmd_do_set_mode(
"STABILIZE",
want_result=mavutil.mavlink.MAV_RESULT_UNSUPPORTED) # should fix this result code!
self.run_cmd_do_set_mode(
"DRIFT",
want_result=mavutil.mavlink.MAV_RESULT_UNSUPPORTED) # should fix this result code!
self.set_rc(3, 1000)
self.run_cmd_do_set_mode("ACRO")
self.mav.motors_disarmed_wait()
def test_mount_pitch(self, despitch, despitch_tolerance, timeout=10):
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Mount pitch not achieved")
m = self.mav.recv_match(type='MOUNT_STATUS',
blocking=True,
timeout=5)
# self.progress("pitch=%f roll=%f yaw=%f" %
# (m.pointing_a, m.pointing_b, m.pointing_c))
mount_pitch = m.pointing_a/100.0 # centidegrees to degrees
if abs(despitch - mount_pitch) > despitch_tolerance:
self.progress("Mount pitch incorrect: %f != %f" %
(mount_pitch, despitch))
continue
self.progress("Mount pitch correct: %f degrees == %f" %
(mount_pitch, despitch))
return
def do_pitch(self, pitch):
'''pitch aircraft in guided/angle mode'''
self.mav.mav.set_attitude_target_send(
0, # time_boot_ms
1, # target sysid
1, # target compid
0, # bitmask of things to ignore
mavextra.euler_to_quat([0, math.radians(pitch), 0]), # att
0, # roll rate (rad/s)
1, # pitch rate
0, # yaw rate
0.5) # thrust, 0 to 1, translated to a climb/descent rate
def test_mount(self):
ex = None
self.context_push()
try:
'''start by disabling GCS failsafe, otherwise we immediately disarm
due to (apparently) not receiving traffic from the GCS for
too long. This is probably a function of --speedup'''
self.set_parameter("FS_GCS_ENABLE", 0)
self.progress("Setting up servo mount")
roll_servo = 5
pitch_servo = 6
yaw_servo = 7
self.set_parameter("MNT_TYPE", 1)
self.set_parameter("SERVO%u_FUNCTION" % roll_servo, 8) # roll
self.set_parameter("SERVO%u_FUNCTION" % pitch_servo, 7) # pitch
self.set_parameter("SERVO%u_FUNCTION" % yaw_servo, 6) # yaw
self.reboot_sitl() # to handle MNT_TYPE changing
# make sure we're getting mount status and gimbal reports
self.mav.recv_match(type='MOUNT_STATUS',
blocking=True,
timeout=5)
self.mav.recv_match(type='GIMBAL_REPORT',
blocking=True,
timeout=5)
# test pitch isn't stabilising:
m = self.mav.recv_match(type='MOUNT_STATUS',
blocking=True,
timeout=5)
if m.pointing_a != 0 or m.pointing_b != 0 or m.pointing_c != 0:
raise NotAchievedException("Mount stabilising when not requested")
self.mavproxy.send('mode guided\n')
self.wait_mode('GUIDED')
self.wait_ready_to_arm()
self.arm_vehicle()
self.user_takeoff()
despitch = 10
despitch_tolerance = 3
self.progress("Pitching vehicle")
self.do_pitch(despitch) # will time out!
self.wait_pitch(despitch, despitch_tolerance)
# check we haven't modified:
m = self.mav.recv_match(type='MOUNT_STATUS',
blocking=True,
timeout=5)
if m.pointing_a != 0 or m.pointing_b != 0 or m.pointing_c != 0:
raise NotAchievedException("Mount stabilising when not requested")
self.progress("Enable pitch stabilization using MOUNT_CONFIGURE")
self.mav.mav.mount_configure_send(
1, # target system
1, # target component
mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING,
0, # stab-roll
1, # stab-pitch
0)
self.do_pitch(despitch)
self.test_mount_pitch(-despitch, 1)
self.progress("Disable pitch using MAV_CMD_DO_MOUNT_CONFIGURE")
self.do_pitch(despitch)
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_MOUNT_CONFIGURE,
mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING,
0,
0,
0,
0,
0,
0,
)
self.test_mount_pitch(0, 0)
self.progress("Point somewhere using MOUNT_CONTROL (ANGLE)")
self.do_pitch(despitch)
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_MOUNT_CONFIGURE,
mavutil.mavlink.MAV_MOUNT_MODE_MAVLINK_TARGETING,
0,
0,
0,
0,
0,
0,
)
self.mav.mav.mount_control_send(
1, # target system
1, # target component
20 * 100, # pitch
20 * 100, # roll (centidegrees)
0, # yaw
0 # save position
)
self.test_mount_pitch(20, 1)
self.progress("Point somewhere using MOUNT_CONTROL (GPS)")
self.do_pitch(despitch)
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_MOUNT_CONFIGURE,
mavutil.mavlink.MAV_MOUNT_MODE_GPS_POINT,
0,
0,
0,
0,
0,
0,
)
start = self.mav.location()
self.progress("start=%s" % str(start))
(t_lat, t_lon) = mavextra.gps_offset(start.lat, start.lng, 10, 20)
t_alt = 0
self.progress("loc %f %f %f" % (start.lat, start.lng, start.alt))
self.progress("targetting %f %f %f" % (t_lat, t_lon, t_alt))
self.do_pitch(despitch)
self.mav.mav.mount_control_send(
1, # target system
1, # target component
int(t_lat * 1e7), # lat
int(t_lon * 1e7), # lon
t_alt * 100, # alt
0 # save position
)
self.test_mount_pitch(-52, 5)
# now test RC targetting
self.progress("Testing mount RC targetting")
# this is a one-off; ArduCopter *will* time out this directive!
self.progress("Levelling aircraft")
self.mav.mav.set_attitude_target_send(
0, # time_boot_ms
1, # target sysid
1, # target compid
0, # bitmask of things to ignore
mavextra.euler_to_quat([0, 0, 0]), # att
1, # roll rate (rad/s)
1, # pitch rate
1, # yaw rate
0.5) # thrust, 0 to 1, translated to a climb/descent rate
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_MOUNT_CONFIGURE,
mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING,
0,
0,
0,
0,
0,
0,
)
try:
self.context_push()
self.set_parameter('MNT_RC_IN_ROLL', 11)
self.set_parameter('MNT_RC_IN_TILT', 12)
self.set_parameter('MNT_RC_IN_PAN', 13)
self.progress("Testing RC angular control")
self.set_rc(11, 1500)
self.set_rc(12, 1500)
self.set_rc(13, 1500)
self.test_mount_pitch(0, 1)
self.set_rc(12, 1400)
self.test_mount_pitch(-11.25, 0.01)
self.set_rc(12, 1800)
self.test_mount_pitch(33.75, 0.01)
self.set_rc(11, 1500)
self.set_rc(12, 1500)
self.set_rc(13, 1500)
self.progress("Testing RC rate control")
self.set_parameter('MNT_JSTICK_SPD', 10)
self.test_mount_pitch(0, 1)
self.set_rc(12, 1300)
self.test_mount_pitch(-5, 1)
self.test_mount_pitch(-10, 1)
self.test_mount_pitch(-15, 1)
self.test_mount_pitch(-20, 1)
self.set_rc(12, 1700)
self.test_mount_pitch(-15, 1)
self.test_mount_pitch(-10, 1)
self.test_mount_pitch(-5, 1)
self.test_mount_pitch(0, 1)
self.test_mount_pitch(5, 1)
self.progress("Reverting to angle mode")
self.set_parameter('MNT_JSTICK_SPD', 0)
self.set_rc(12, 1500)
self.test_mount_pitch(0, 0.1)
self.context_pop()
except Exception:
self.context_pop()
raise
self.progress("Testing mount ROI behaviour")
self.test_mount_pitch(0, 0.1)
start = self.mav.location()
self.progress("start=%s" % str(start))
(roi_lat, roi_lon) = mavextra.gps_offset(start.lat,
start.lng,
10,
20)
roi_alt = 0
self.progress("Using MAV_CMD_DO_SET_ROI_LOCATION")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_ROI_LOCATION,
0,
0,
0,
0,
roi_lat,
roi_lon,
roi_alt,
)
self.test_mount_pitch(-52, 5)
start = self.mav.location()
(roi_lat, roi_lon) = mavextra.gps_offset(start.lat,
start.lng,
-100,
-200)
roi_alt = 0
self.progress("Using MAV_CMD_DO_SET_ROI")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_ROI,
0,
0,
0,
0,
roi_lat,
roi_lon,
roi_alt,
)
self.test_mount_pitch(-7.5, 1)
self.progress("checking ArduCopter yaw-aircraft-for-roi")
try:
self.context_push()
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
self.progress("current heading %u" % m.heading)
self.set_parameter("SERVO%u_FUNCTION" % yaw_servo, 0) # yaw
self.progress("Waiting for check_servo_map to do its job")
self.wait_seconds(5)
start = self.mav.location()
self.progress("Moving to guided/position controller")
self.fly_guided_move_global_relative_alt(1, 0, 0)
self.guided_achieve_heading(0)
(roi_lat, roi_lon) = mavextra.gps_offset(start.lat,
start.lng,
-100,
-200)
roi_alt = 0
self.progress("Using MAV_CMD_DO_SET_ROI")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_ROI,
0,
0,
0,
0,
roi_lat,
roi_lon,
roi_alt,
)
self.wait_heading(110, timeout=600)
self.context_pop()
except Exception:
self.context_pop()
raise
except Exception as e:
ex = e
self.context_pop()
self.disarm_vehicle(force=True)
self.reboot_sitl() # to handle MNT_TYPE changing
if ex is not None:
raise ex
def fly_throw_mode(self):
# test boomerang mode:
self.progress("Throwing vehicle away")
self.set_parameter("THROW_NEXTMODE", 6)
self.set_parameter("SIM_SHOVE_Z", -30)
self.set_parameter("SIM_SHOVE_X", -20)
self.change_mode('THROW')
self.wait_ready_to_arm()
self.arm_vehicle()
try:
self.set_parameter("SIM_SHOVE_TIME", 500)
except ValueError as e:
# the shove resets this to zero
pass
tstart = self.get_sim_time()
self.wait_mode('RTL')
max_good_tdelta = 15
tdelta = self.get_sim_time() - tstart
self.progress("Vehicle in RTL")
self.mav.motors_disarmed_wait()
self.progress("Vehicle disarmed")
if tdelta > max_good_tdelta:
raise NotAchievedException("Took too long to enter RTL: %fs > %fs" %
(tdelta, max_good_tdelta))
self.progress("Vehicle returned")
def test_onboard_compass_calibration(self, timeout=240):
twist_x = 2.1
twist_y = 2.2
twist_z = 2.3
ex = None
self.context_push()
try:
self.set_parameter("SIM_GND_BEHAV", 0)
self.set_parameter("AHRS_EKF_TYPE", 10)
self.reboot_sitl()
report = self.mav.messages.get("MAG_CAL_REPORT", None)
if report is not None:
raise PreconditionFailedException("MAG_CAL_REPORT found")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL,
1, # bitmask of compasses to calibrate
0,
0,
0,
0,
0,
0,
timeout=1)
tstart = self.get_sim_time()
last_twist_time = 0
while True:
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise NotAchievedException("timeout before cal complete")
report = self.mav.messages.get("MAG_CAL_REPORT", None)
if report is not None:
print("Report: %s" % str(report))
break
if now - last_twist_time > 5:
last_twist_time = now
twist_x *= 1.1
twist_y *= 1.2
twist_z *= 1.3
if abs(twist_x) > 10:
twist_x /= -2
if abs(twist_y) > 10:
twist_y /= -2
if abs(twist_z) > 10:
twist_z /= -2
self.set_parameter("SIM_TWIST_X", twist_x)
self.set_parameter("SIM_TWIST_Y", twist_y)
self.set_parameter("SIM_TWIST_Z", twist_z)
try:
self.set_parameter("SIM_TWIST_TIME", 100)
except ValueError as e:
# the shove resets this to zero
pass
m = self.mav.recv_match(type="MAG_CAL_PROGRESS", timeout=1)
self.progress("progress: %s" % str(m))
if m is None:
continue
att = self.mav.messages.get("ATTITUDE", None)
self.progress("Attitude: %f %f %f" %
(math.degrees(att.roll), math.degrees(att.pitch), math.degrees(att.yaw)))
except Exception as e:
self.progress("Exception caught: %s" % (
self.get_exception_stacktrace(e)))
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def fly_brake_mode(self):
# test brake mode
self.progress("Testing brake mode")
self.takeoff(10, mode="LOITER")
self.progress("Ensuring RC inputs have no effect in brake mode")
self.change_mode("STABILIZE")
self.set_rc(3, 1500)
self.set_rc(2, 1200)
self.wait_groundspeed(5, 1000)
self.change_mode("BRAKE")
self.wait_groundspeed(0, 1)
self.set_rc(2, 1500)
self.do_RTL()
self.progress("Ran brake mode")
def fly_precision_companion(self):
"""Use Companion PrecLand backend precision messages to loiter."""
self.context_push()
ex = None
try:
self.set_parameter("PLND_ENABLED", 1)
self.fetch_parameters()
# enable companion backend:
self.set_parameter("PLND_TYPE", 1)
self.set_analog_rangefinder_parameters()
# set up a channel switch to enable precision loiter:
self.set_parameter("RC7_OPTION", 39)
self.reboot_sitl()
self.progress("Waiting for location")
self.mav.location()
self.zero_throttle()
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_heartbeat()
self.wait_mode('STABILIZE')
self.wait_ready_to_arm()
# we should be doing precision loiter at this point
start = self.mav.recv_match(type='LOCAL_POSITION_NED',
blocking=True)
self.arm_vehicle()
self.set_rc(3, 1800)
alt_min = 10
self.wait_altitude(alt_min,
(alt_min + 5),
relative=True)
self.set_rc(3, 1500)
# move away a little
self.set_rc(2, 1550)
self.wait_distance(5)
self.set_rc(2, 1500)
self.mavproxy.send('mode loiter\n')
self.wait_mode('LOITER')
# turn precision loiter on:
self.set_rc(7, 2000)
# try to drag aircraft to a position 5 metres north-east-east:
self.loiter_to_ne(start.x + 5, start.y + 10, start.z + 10)
self.loiter_to_ne(start.x + 5, start.y - 10, start.z + 10)
except Exception as e:
self.progress("Exception caught: %s" % (
self.get_exception_stacktrace(e)))
ex = e
self.context_pop()
self.zero_throttle()
self.disarm_vehicle(force=True)
self.reboot_sitl()
self.progress("All done")
if ex is not None:
raise ex
def loiter_requires_position(self):
# ensure we can't switch to LOITER without position
self.progress("Ensure we can't enter LOITER without position")
self.context_push()
self.set_parameter("GPS_TYPE", 0)
self.reboot_sitl()
self.change_mode('STABILIZE')
self.wait_ekf_flags((mavutil.mavlink.ESTIMATOR_ATTITUDE |
mavutil.mavlink.ESTIMATOR_VELOCITY_VERT |
mavutil.mavlink.ESTIMATOR_POS_VERT_ABS |
mavutil.mavlink.ESTIMATOR_CONST_POS_MODE |
mavutil.mavlink.ESTIMATOR_PRED_POS_HORIZ_REL),
0,
timeout=120)
self.arm_vehicle()
self.mavproxy.send("mode LOITER\n")
self.mavproxy.expect("requires position")
self.disarm_vehicle()
self.context_pop()
self.reboot_sitl()
def test_arm_feature(self):
self.loiter_requires_position()
super(AutoTestCopter, self).test_arm_feature()
def test_parameter_checks(self):
self.test_parameter_checks_poscontrol("PSC")
def fly_poshold_takeoff(self):
"""ensure vehicle stays put until it is ready to fly"""
self.context_push()
ex = None
try:
self.set_parameter("PILOT_TKOFF_ALT", 700)
self.mavproxy.send('mode POSHOLD\n')
self.wait_mode('POSHOLD')
self.set_rc(3, 1000)
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_seconds(2)
# check we are still on the ground...
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
if abs(m.relative_alt) > 100:
raise NotAchievedException("Took off prematurely")
self.progress("Pushing throttle up")
self.set_rc(3, 1710)
self.wait_seconds(0.5)
self.progress("Bringing back to hover throttle")
self.set_rc(3, 1500)
# make sure we haven't already reached alt:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
max_initial_alt = 500
if abs(m.relative_alt) > max_initial_alt:
raise NotAchievedException("Took off too fast (%f > %f" %
(abs(m.relative_alt), max_initial_alt))
self.progress("Monitoring takeoff-to-alt")
self.wait_altitude(6.9, 8, relative=True)
self.progress("Making sure we stop at our takeoff altitude")
tstart = self.get_sim_time()
while self.get_sim_time() - tstart < 5:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
delta = abs(7000 - m.relative_alt)
self.progress("alt=%f delta=%f" % (m.relative_alt/1000,
delta/1000))
if delta > 1000:
raise NotAchievedException("Failed to maintain takeoff alt")
self.progress("takeoff OK")
except Exception as e:
ex = e
self.mavproxy.send('mode LAND\n')
self.wait_mode('LAND')
self.mav.motors_disarmed_wait()
self.set_rc(8, 1000)
self.context_pop()
if ex is not None:
raise ex
def initial_mode(self):
return "STABILIZE"
def initial_mode_switch_mode(self):
return "STABILIZE"
def default_mode(self):
return "STABILIZE"
def rc_defaults(self):
ret = super(AutoTestCopter, self).rc_defaults()
ret[3] = 1000
ret[5] = 1800 # mode switch
return ret
def test_manual_control(self):
'''test manual_control mavlink message'''
self.change_mode('STABILIZE')
self.takeoff(10)
tstart = self.get_sim_time_cached()
want_pitch_degrees = -20
while True:
if self.get_sim_time_cached() - tstart > 10:
raise AutoTestTimeoutException("Did not reach pitch")
self.progress("Sending pitch-forward")
self.mav.mav.manual_control_send(
1, # target system
500, # x (pitch)
32767, # y (roll)
32767, # z (thrust)
32767, # r (yaw)
0) # button mask
m = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=1)
print("m=%s" % str(m))
if m is None:
continue
p = math.degrees(m.pitch)
self.progress("pitch=%f want<=%f" % (p, want_pitch_degrees))
if p <= want_pitch_degrees:
break
self.mav.mav.manual_control_send(
1, # target system
32767, # x (pitch)
32767, # y (roll)
32767, # z (thrust)
32767, # r (yaw)
0) # button mask
self.do_RTL()
def check_avoidance_corners(self):
self.takeoff(10, mode="LOITER")
self.set_rc(2, 1400)
west_loc = mavutil.location(-35.363007,
149.164911,
0,
0)
self.wait_location(west_loc, accuracy=6)
north_loc = mavutil.location(-35.362908,
149.165051,
0,
0)
self.reach_heading_manual(0);
self.wait_location(north_loc, accuracy=6)
self.reach_heading_manual(90);
east_loc = mavutil.location(-35.363013,
149.165194,
0,
0)
self.wait_location(east_loc, accuracy=6)
self.reach_heading_manual(225);
self.wait_location(west_loc, accuracy=6)
self.set_rc(2, 1500)
self.do_RTL()
def fly_proximity_avoidance_test(self):
self.context_push()
ex = None
try:
avoid_filepath = os.path.join(self.mission_directory(),
"copter-avoidance-fence.txt")
self.mavproxy.send("fence load %s\n" % avoid_filepath)
self.mavproxy.expect("Loaded 5 geo-fence")
self.set_parameter("FENCE_ENABLE", 0)
self.set_parameter("PRX_TYPE", 10)
self.set_parameter("RC10_OPTION", 40) # proximity-enable
self.reboot_sitl()
self.progress("Enabling proximity")
self.set_rc(10, 2000)
self.check_avoidance_corners()
except Exception as e:
self.progress("Caught exception: %s" % str(e))
ex = e
self.context_pop()
self.mavproxy.send("fence clear\n")
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex is not None:
raise ex
def fly_fence_avoidance_test(self):
self.context_push()
ex = None
try:
avoid_filepath = os.path.join(self.mission_directory(),
"copter-avoidance-fence.txt")
self.mavproxy.send("fence load %s\n" % avoid_filepath)
self.mavproxy.expect("Loaded 5 geo-fence")
self.set_parameter("FENCE_ENABLE", 1)
self.check_avoidance_corners()
except Exception as e:
self.progress("Caught exception: %s" % str(e))
ex = e
self.context_pop()
self.mavproxy.send("fence clear\n")
self.disarm_vehicle(force=True)
if ex is not None:
raise ex
def fly_beacon_position(self):
self.reboot_sitl()
self.wait_ready_to_arm(require_absolute=True)
old_pos = self.mav.location()
print("old_pos=%s" % str(old_pos))
self.context_push()
ex = None
try:
self.set_parameter("BCN_TYPE", 10)
self.set_parameter("BCN_LATITUDE", SITL_START_LOCATION.lat)
self.set_parameter("BCN_LONGITUDE", SITL_START_LOCATION.lng)
self.set_parameter("BCN_ALT", SITL_START_LOCATION.alt)
self.set_parameter("BCN_ORIENT_YAW", 45)
self.set_parameter("AVOID_ENABLE", 4)
self.set_parameter("GPS_TYPE", 0)
self.set_parameter("EK3_GPS_TYPE", 3) # NOGPS
self.set_parameter("EK3_ENABLE", 1)
self.set_parameter("EK2_ENABLE", 0)
self.reboot_sitl()
# require_absolute=True infers a GPS is present
self.wait_ready_to_arm(require_absolute=False)
tstart = self.get_sim_time()
timeout = 20
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Did not get new position like old position")
self.progress("Fetching location")
new_pos = self.mav.location()
pos_delta = self.get_distance(old_pos, new_pos)
max_delta = 1
self.progress("delta=%u want <= %u" % (pos_delta, max_delta))
if pos_delta <= max_delta:
break
self.progress("Moving to ensure location is tracked")
self.takeoff(10, mode="LOITER")
self.set_rc(2, 1400)
self.delay_sim_time(5)
self.set_rc(2, 1500)
self.wait_groundspeed(0, 0.1)
pos_delta = self.get_distance(self.sim_location(), self.mav.location)
if pos_delta > max_delta:
raise NotAchievedException("Vehicle location not tracking simulated location (%u > %u)" %
(pos_delta, max_delta))
except Exception as e:
self.progress("Caught exception: %s" % str(e))
ex = e
self.context_pop()
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex is not None:
raise ex
def fly_beacon_avoidance_test(self):
self.context_push()
ex = None
try:
self.set_parameter("BCN_TYPE", 10)
self.set_parameter("BCN_LATITUDE", int(SITL_START_LOCATION.lat))
self.set_parameter("BCN_LONGITUDE", int(SITL_START_LOCATION.lng))
self.set_parameter("BCN_ORIENT_YAW", 45)
self.set_parameter("AVOID_ENABLE", 4)
self.reboot_sitl()
self.takeoff(10, mode="LOITER")
self.set_rc(2, 1400)
west_loc = mavutil.location(-35.362919, 149.165055, 0, 0)
self.wait_location(west_loc, accuracy=7)
self.reach_heading_manual(0)
north_loc = mavutil.location(-35.362881, 149.165103, 0, 0)
self.wait_location(north_loc, accuracy=7)
self.set_rc(2, 1500)
self.set_rc(1, 1600)
east_loc = mavutil.location(-35.362986, 149.165227, 0, 0)
self.wait_location(east_loc, accuracy=7)
self.set_rc(1, 1500)
self.set_rc(2, 1600)
south_loc = mavutil.location(-35.363025, 149.165182, 0, 0)
self.wait_location(south_loc, accuracy=7)
self.set_rc(2, 1500)
self.do_RTL()
except Exception as e:
self.progress("Caught exception: %s" % str(e))
ex = e
self.context_pop()
self.mavproxy.send("fence clear\n")
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex is not None:
raise ex
def get_mission_count(self):
return self.get_parameter("MIS_TOTAL")
def assert_mission_count(self, expected):
count = self.get_mission_count()
if count != expected:
raise NotAchievedException("Unexpected count got=%u want=%u" %
(count, expected))
def test_aux_switch_options(self):
self.set_parameter("RC7_OPTION", 58) # clear waypoints
self.load_mission("copter_loiter_to_alt.txt")
self.set_rc(7, 1000)
self.assert_mission_count(5)
self.progress("Clear mission")
self.set_rc(7, 2000)
self.delay_sim_time(1) # allow switch to debounce
self.assert_mission_count(0)
self.set_rc(7, 1000)
self.set_parameter("RC7_OPTION", 24) # reset mission
self.delay_sim_time(2)
self.load_mission("copter_loiter_to_alt.txt")
set_wp = 4
self.mavproxy.send("wp set %u\n" % set_wp)
self.delay_sim_time(1)
self.drain_mav()
self.wait_current_waypoint(set_wp, timeout=10)
self.progress("Reset mission")
self.set_rc(7, 2000)
self.delay_sim_time(1)
self.drain_mav()
self.wait_current_waypoint(0, timeout=10)
self.set_rc(7, 1000)
def tests(self):
'''return list of all tests'''
ret = super(AutoTestCopter, self).tests()
ret.extend([
("NavDelayTakeoffAbsTime",
"Fly Nav Delay (takeoff)",
self.fly_nav_takeoff_delay_abstime),
("NavDelayAbsTime",
"Fly Nav Delay (AbsTime)",
self.fly_nav_delay_abstime),
("NavDelay",
"Fly Nav Delay",
self.fly_nav_delay),
("GuidedSubModeChange",
"Test submode change",
self.fly_guided_change_submode),
("LoiterToAlt",
"Loiter-To-Alt",
self.fly_loiter_to_alt),
("PayLoadPlaceMission",
"Payload Place Mission",
self.fly_payload_place_mission),
("PrecisionLoiterCompanion",
"Precision Loiter (Companion)",
self.fly_precision_companion),
("PrecisionLandingSITL",
"Precision Landing (SITL)",
self.fly_precision_sitl),
("SetModesViaModeSwitch",
"Set modes via modeswitch",
self.test_setting_modes_via_modeswitch),
("SetModesViaAuxSwitch",
"Set modes via auxswitch",
self.test_setting_modes_via_auxswitch),
("AuxSwitchOptions",
"Test random aux mode options",
self.test_aux_switch_options),
("AutoTune", "Fly AUTOTUNE mode", self.fly_autotune),
("ThrowMode", "Fly Throw Mode", self.fly_throw_mode),
("BrakeMode", "Fly Brake Mode", self.fly_brake_mode),
("RecordThenPlayMission",
"Use switches to toggle in mission, then fly it",
self.fly_square),
("ThrottleFailsafe",
"Test Throttle Failsafe",
self.fly_throttle_failsafe),
("BatteryFailsafe",
"Fly Battery Failsafe",
self.fly_battery_failsafe),
("StabilityPatch",
"Fly stability patch",
lambda: self.fly_stability_patch(30)),
("AC_Avoidance_Proximity",
"Test proximity avoidance slide behaviour",
self.fly_proximity_avoidance_test),
("AC_Avoidance_Fence",
"Test fence avoidance slide behaviour",
self.fly_fence_avoidance_test),
("AC_Avoidance_Beacon",
"Test beacon avoidance slide behaviour",
self.fly_beacon_avoidance_test),
("HorizontalFence",
"Test horizontal fence",
self.fly_fence_test),
("HorizontalAvoidFence",
"Test horizontal Avoidance fence",
self.fly_fence_avoid_test),
("MaxAltFence",
"Test Max Alt Fence",
self.fly_alt_max_fence_test),
("GPSGlitchLoiter",
"GPS Glitch Loiter Test",
self.fly_gps_glitch_loiter_test),
("GPSGlitchAuto",
"GPS Glitch Auto Test",
self.fly_gps_glitch_auto_test),
("ModeAltHold",
"Test AltHold Mode",
self.test_mode_ALT_HOLD),
("ModeLoiter",
"Test Loiter Mode",
self.loiter),
("SimpleMode",
"Fly in SIMPLE mode",
self.fly_simple),
("SuperSimpleCircle",
"Fly a circle in SUPER SIMPLE mode",
self.fly_super_simple),
("ModeCircle",
"Fly CIRCLE mode",
self.fly_circle),
("OpticalFlowLimits",
"Fly Optical Flow limits",
self.fly_optical_flow_limits),
("MotorFail",
"Fly motor failure test",
self.fly_motor_fail),
("Flip",
"Fly Flip Mode",
self.fly_flip),
("CopterMission",
"Fly copter mission",
self.fly_auto_test),
# Gripper test
("Gripper",
"Test gripper",
self.test_gripper),
("TestGripperMission",
"Test Gripper mission items",
self.test_gripper_mission),
("VisionPosition",
"Fly Vision Position",
self.fly_vision_position),
("BeaconPosition",
"Fly Beacon Position",
self.fly_beacon_position),
("RTLSpeed",
"Fly RTL Speed",
self.fly_rtl_speed),
("Mount",
"Test Camera/Antenna Mount",
self.test_mount),
("RangeFinder",
"Test RangeFinder Basic Functionality",
self.test_rangefinder),
("SurfaceTracking",
"Test Surface Tracking",
self.test_surface_tracking),
("Parachute",
"Test Parachute Functionality",
self.test_parachute),
("ParameterChecks",
"Test Arming Parameter Checks",
self.test_parameter_checks),
("ManualThrottleModeChange",
"Check manual throttle mode changes denied on high throttle",
self.fly_manual_throttle_mode_change),
("MANUAL_CONTROL",
"Test mavlink MANUAL_CONTROL",
self.test_manual_control),
# Zigzag mode test
("ZigZag", "Fly ZigZag Mode", self.fly_zigzag_mode),
("PosHoldTakeOff",
"Fly POSHOLD takeoff",
self.fly_poshold_takeoff),
("OnboardCompassCalibration",
"Test onboard compass calibration",
self.test_onboard_compass_calibration),
("LogDownLoad",
"Log download",
lambda: self.log_download(
self.buildlogs_path("ArduCopter-log.bin"),
upload_logs=len(self.fail_list) > 0))
])
return ret
def disabled_tests(self):
return {
"Parachute": "See https://github.com/ArduPilot/ardupilot/issues/4702",
"HorizontalAvoidFence": "See https://github.com/ArduPilot/ardupilot/issues/11525",
"BeaconPosition": "See https://github.com/ArduPilot/ardupilot/issues/11689",
}
class AutoTestHeli(AutoTestCopter):
def log_name(self):
return "HeliCopter"
def default_frame(self):
return "heli"
def sitl_start_location(self):
return SITL_START_LOCATION_AVC
def is_heli(self):
return True
def rc_defaults(self):
ret = super(AutoTestHeli, self).rc_defaults()
ret[8] = 1000
ret[3] = 1000 # collective
return ret
def loiter_requires_position(self):
self.progress("Skipping loiter-requires-position for heli; rotor runup issues")
# fly_avc_test - fly AVC mission
def fly_avc_test(self):
# Arm
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
self.wait_ready_to_arm()
self.arm_vehicle()
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
# upload mission from file
self.progress("# Load copter_AVC2013_mission")
# load the waypoint count
num_wp = self.load_mission("copter_AVC2013_mission.txt")
if not num_wp:
raise NotAchievedException("load copter_AVC2013_mission failed")
self.progress("Fly AVC mission from 1 to %u" % num_wp)
self.mavproxy.send('wp set 1\n')
# wait for motor runup
self.wait_seconds(20)
# switch into AUTO mode and raise throttle
self.mavproxy.send('switch 4\n') # auto mode
self.wait_mode('AUTO')
self.set_rc(3, 1500)
# fly the mission
self.wait_waypoint(0, num_wp-1, timeout=500)
# set throttle to minimum
self.zero_throttle()
# wait for disarm
self.mav.motors_disarmed_wait()
self.progress("MOTORS DISARMED OK")
self.progress("Lowering rotor speed")
self.set_rc(8, 1000)
self.progress("AVC mission completed: passed!")
def fly_heli_poshold_takeoff(self):
"""ensure vehicle stays put until it is ready to fly"""
self.context_push()
ex = None
try:
self.set_parameter("PILOT_TKOFF_ALT", 700)
self.mavproxy.send('mode POSHOLD\n')
self.wait_mode('POSHOLD')
self.set_rc(3, 1000)
self.set_rc(8, 1000)
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1900, timeout=10)
self.wait_seconds(20)
# check we are still on the ground...
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
if abs(m.relative_alt) > 100:
raise NotAchievedException("Took off prematurely")
self.progress("Pushing throttle past half-way")
self.set_rc(3, 1600)
self.wait_seconds(0.5)
self.progress("Bringing back to hover throttle")
self.set_rc(3, 1500)
# make sure we haven't already reached alt:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
if abs(m.relative_alt) > 500:
raise NotAchievedException("Took off too fast")
self.progress("Monitoring takeoff-to-alt")
self.wait_altitude(6.9, 8, relative=True)
self.progress("Making sure we stop at our takeoff altitude")
tstart = self.get_sim_time()
while self.get_sim_time() - tstart < 5:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
delta = abs(7000 - m.relative_alt)
self.progress("alt=%f delta=%f" % (m.relative_alt/1000,
delta/1000))
if delta > 1000:
raise NotAchievedException("Failed to maintain takeoff alt")
self.progress("takeoff OK")
except Exception as e:
ex = e
self.mavproxy.send('mode LAND\n')
self.wait_mode('LAND')
self.mav.motors_disarmed_wait()
self.set_rc(8, 1000)
self.context_pop()
if ex is not None:
raise ex
def fly_spline_waypoint(self):
"""ensure basic spline functionality works"""
self.load_mission("copter_spline_mission.txt")
self.change_mode("LOITER")
self.wait_ready_to_arm()
self.arm_vehicle()
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
self.wait_seconds(20)
self.change_mode("AUTO")
self.set_rc(3, 1500)
tstart = self.get_sim_time()
while True:
if not self.armed():
break
remaining = self.get_sim_time() - tstart
if remaining <= 0:
raise AutoTestTimeoutException("Vehicle did not disarm after mission")
self.delay_sim_time(1)
self.progress("Lowering rotor speed")
self.set_rc(8, 1000)
def set_rc_default(self):
super(AutoTestCopter, self).set_rc_default()
self.progress("Lowering rotor speed")
self.set_rc(8, 1000)
def tests(self):
'''return list of all tests'''
ret = super(AutoTestCopter, self).tests()
ret.extend([
("AVCMission", "Fly AVC mission", self.fly_avc_test),
("PosHoldTakeOff",
"Fly POSHOLD takeoff",
self.fly_heli_poshold_takeoff),
("SplineWaypoint",
"Fly Spline Waypoints",
self.fly_spline_waypoint),
("LogDownLoad",
"Log download",
lambda: self.log_download(
self.buildlogs_path("ArduCopter-log.bin"),
upload_logs=len(self.fail_list) > 0))
])
return ret
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