mirror of https://github.com/ArduPilot/ardupilot
332 lines
10 KiB
Python
332 lines
10 KiB
Python
# fly ArduCopter in SIL
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import util, pexpect, sys, time, math, shutil, os
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# get location of scripts
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testdir=os.path.dirname(os.path.realpath(__file__))
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sys.path.insert(0, util.reltopdir('../pymavlink'))
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import mavutil
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HOME_LOCATION='-35.362938,149.165085,650,270'
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homeloc = None
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# a list of pexpect objects to read while waiting for
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# messages. This keeps the output to stdout flowing
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expect_list = []
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def message_hook(mav, msg):
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'''called as each mavlink msg is received'''
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global expect_list
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if msg.get_type() in [ 'NAV_CONTROLLER_OUTPUT' ]:
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print(msg)
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for p in expect_list:
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try:
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p.read_nonblocking(100, timeout=0)
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except pexpect.TIMEOUT:
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pass
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def expect_callback(e):
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'''called when waiting for a expect pattern'''
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global expect_list
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for p in expect_list:
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if p == e:
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continue
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try:
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while p.read_nonblocking(100, timeout=0):
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pass
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except pexpect.TIMEOUT:
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pass
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class location(object):
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'''represent a GPS coordinate'''
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def __init__(self, lat, lng, alt=0):
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self.lat = lat
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self.lng = lng
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self.alt = alt
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def get_distance(loc1, loc2):
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'''get ground distance between two locations'''
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dlat = loc2.lat - loc1.lat
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dlong = loc2.lng - loc1.lng
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return math.sqrt((dlat*dlat) + (dlong*dlong)) * 1.113195e5
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def get_bearing(loc1, loc2):
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'''get bearing from loc1 to loc2'''
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off_x = loc2.lng - loc1.lng
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off_y = loc2.lat - loc1.lat
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bearing = 90.00 + math.atan2(-off_y, off_x) * 57.2957795
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if bearing < 0:
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bearing += 360.00
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return bearing;
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def current_location(mav):
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'''return current location'''
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return location(mav.messages['GPS_RAW'].lat,
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mav.messages['GPS_RAW'].lon,
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mav.messages['VFR_HUD'].alt)
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def wait_altitude(mav, alt_min, alt_max, timeout=30):
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'''wait for a given altitude range'''
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tstart = time.time()
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print("Waiting for altitude between %u and %u" % (alt_min, alt_max))
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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print("Altitude %u" % m.alt)
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if m.alt >= alt_min and m.alt <= alt_max:
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return True
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print("Failed to attain altitude range")
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return False
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def arm_motors(mavproxy):
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'''arm motors'''
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mavproxy.send('switch 6\n') # stabilize mode
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mavproxy.expect('STABILIZE>')
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mavproxy.send('rc 3 1000\n')
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mavproxy.send('rc 4 2000\n')
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mavproxy.expect('APM: ARMING MOTORS')
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mavproxy.send('rc 4 1500\n')
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print("MOTORS ARMED OK")
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def disarm_motors(mavproxy):
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'''disarm motors'''
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mavproxy.send('rc 3 1000\n')
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mavproxy.send('rc 4 1000\n')
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mavproxy.expect('APM: DISARMING MOTORS')
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mavproxy.send('rc 4 1500\n')
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print("MOTORS DISARMED OK")
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def takeoff(mavproxy, mav):
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'''takeoff get to 30m altitude'''
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mavproxy.send('switch 6\n') # stabilize mode
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mavproxy.expect('STABILIZE>')
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mavproxy.send('rc 3 1500\n')
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wait_altitude(mav, 30, 40)
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print("TAKEOFF COMPLETE")
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def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
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'''hold loiter position'''
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mavproxy.send('switch 5\n') # loiter mode
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mavproxy.expect('LOITER>')
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mavproxy.send('status\n')
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mavproxy.expect('>')
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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start_altitude = m.alt
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tstart = time.time()
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tholdstart = time.time()
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print("Holding loiter at %u meters for %u seconds" % (start_altitude, holdtime))
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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print("Altitude %u" % m.alt)
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if math.fabs(m.alt - start_altitude) > maxaltchange:
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tholdstart = time.time()
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if time.time() - tholdstart > holdtime:
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print("Loiter OK for %u seconds" % holdtime)
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return True
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print("Loiter FAILED")
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return False
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def wait_heading(mav, heading, accuracy=5, timeout=30):
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'''wait for a given heading'''
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tstart = time.time()
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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print("Heading %u" % m.heading)
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if math.fabs(m.heading - heading) <= accuracy:
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return True
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print("Failed to attain heading %u" % heading)
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return False
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def wait_distance(mav, distance, accuracy=5, timeout=30):
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'''wait for flight of a given distance'''
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tstart = time.time()
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start = current_location(mav)
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='GPS_RAW', blocking=True)
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pos = current_location(mav)
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delta = get_distance(start, pos)
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print("Distance %.2f meters" % delta)
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if math.fabs(delta - distance) <= accuracy:
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return True
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print("Failed to attain distance %u" % distance)
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return False
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def wait_location(mav, loc, accuracy=5, timeout=30):
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'''wait for arrival at a location'''
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tstart = time.time()
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='GPS_RAW', blocking=True)
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pos = current_location(mav)
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delta = get_distance(loc, pos)
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print("Distance %.2f meters" % delta)
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if delta <= accuracy:
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return True
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print("Failed to attain location")
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return False
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def fly_square(mavproxy, mav, side=50, timeout=120):
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'''fly a square, flying N then E'''
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mavproxy.send('switch 6\n')
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mavproxy.expect('STABILIZE>')
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tstart = time.time()
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mavproxy.send('rc 3 1430\n')
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mavproxy.send('rc 4 1610\n')
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if not wait_heading(mav, 0):
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return False
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mavproxy.send('rc 4 1500\n')
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print("Going north %u meters" % side)
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mavproxy.send('rc 2 1390\n')
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ok = wait_distance(mav, side)
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mavproxy.send('rc 2 1500\n')
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print("Going east %u meters" % side)
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mavproxy.send('rc 1 1610\n')
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ok = wait_distance(mav, side)
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mavproxy.send('rc 1 1500\n')
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print("Going south %u meters" % side)
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mavproxy.send('rc 2 1610\n')
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ok = wait_distance(mav, side)
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mavproxy.send('rc 2 1500\n')
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print("Going west %u meters" % side)
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mavproxy.send('rc 1 1390\n')
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ok = wait_distance(mav, side)
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mavproxy.send('rc 1 1500\n')
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return ok
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def land(mavproxy, mav, timeout=60):
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'''land the quad'''
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print("STARTING LANDING")
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mavproxy.send('switch 6\n')
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mavproxy.expect('STABILIZE>')
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mavproxy.send('status\n')
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mavproxy.expect('>')
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# start by dropping throttle till we have lost 5m
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mavproxy.send('rc 3 1380\n')
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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wait_altitude(mav, 0, m.alt-5)
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# now let it settle gently
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mavproxy.send('rc 3 1400\n')
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tstart = time.time()
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if wait_altitude(mav, -5, 0):
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print("LANDING OK")
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return True
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else:
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print("LANDING FAILED")
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return False
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def fly_mission(mavproxy, mav, filename):
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'''fly a mission from a file'''
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global homeloc
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mavproxy.send('wp load %s\n' % filename)
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mavproxy.expect('flight plan received')
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mavproxy.send('wp list\n')
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mavproxy.expect('Requesting [0-9]+ waypoints')
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mavproxy.send('switch 1\n') # auto mode
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mavproxy.expect('AUTO>')
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wait_distance(mav, 30, timeout=120)
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wait_location(mav, homeloc, timeout=600)
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def setup_rc(mavproxy):
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'''setup RC override control'''
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for chan in range(1,9):
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mavproxy.send('rc %u 1500\n' % chan)
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# zero throttle
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mavproxy.send('rc 3 1000\n')
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def fly_ArduCopter():
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'''fly ArduCopter in SIL'''
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global expect_list, homeloc
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util.rmfile('eeprom.bin')
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sil = util.start_SIL('ArduCopter')
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mavproxy = util.start_MAVProxy_SIL('ArduCopter')
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mavproxy.expect('Please Run Setup')
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# we need to restart it after eeprom erase
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mavproxy.close()
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sil.close()
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sil = util.start_SIL('ArduCopter')
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mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:14550 --quadcopter')
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mavproxy.expect('Received [0-9]+ parameters')
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# setup test parameters
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mavproxy.send("param load %s/ArduCopter.parm\n" % testdir)
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mavproxy.expect('Loaded [0-9]+ parameters')
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# reboot with new parameters
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mavproxy.close()
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sil.close()
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sil = util.start_SIL('ArduCopter')
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mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:14550 --out=192.168.2.15:14550 --quadcopter --streamrate=1')
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mavproxy.expect('Logging to (\S+)')
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logfile = mavproxy.match.group(1)
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print("LOGFILE %s" % logfile)
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mavproxy.expect("Ready to FLY")
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mavproxy.expect('Received [0-9]+ parameters')
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util.expect_setup_callback(mavproxy, expect_callback)
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# start hil_quad.py
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util.run_cmd('pkill -f hil_quad.py', checkfail=False)
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hquad = pexpect.spawn(util.reltopdir('../HILTest/hil_quad.py') + ' --fgout=192.168.2.15:9123 --home=%s' % HOME_LOCATION,
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logfile=sys.stdout, timeout=10)
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hquad.expect('Starting at')
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expect_list.extend([hquad, sil, mavproxy])
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# get a mavlink connection going
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mav = mavutil.mavlink_connection('127.0.0.1:14550', robust_parsing=True)
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mav.message_hooks.append(message_hook)
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failed = False
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try:
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mav.wait_heartbeat()
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mav.recv_match(type='GPS_RAW', blocking=True)
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setup_rc(mavproxy)
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homeloc = current_location(mav)
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arm_motors(mavproxy)
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takeoff(mavproxy, mav)
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fly_square(mavproxy, mav)
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loiter(mavproxy, mav)
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land(mavproxy, mav)
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fly_mission(mavproxy, mav, os.path.join(testdir, "mission1.txt"))
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land(mavproxy, mav)
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disarm_motors(mavproxy)
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except pexpect.TIMEOUT, e:
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failed = True
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mavproxy.close()
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sil.close()
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hquad.close()
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shutil.copy(logfile, util.reltopdir("../buildlogs/ArduCopter-test.mavlog"))
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if os.path.exists('ArduCopter-valgrind.log'):
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os.chmod('ArduCopter-valgrind.log', 0644)
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shutil.copy("ArduCopter-valgrind.log", util.reltopdir("../buildlogs/ArduCopter-valgrind.log"))
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util.run_cmd(util.reltopdir("../pymavlink/examples/mavtogpx.py") + " " + util.reltopdir("../buildlogs/ArduCopter-test.mavlog"))
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util.run_cmd(util.reltopdir("../bin/gpxtokml") + " " + util.reltopdir("../buildlogs/ArduCopter-test.mavlog.gpx"))
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if failed:
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print("FAILED: %s" % e)
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sys.exit(1)
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