mirror of https://github.com/ArduPilot/ardupilot
470 lines
16 KiB
Python
470 lines
16 KiB
Python
'''
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Fly Helicopter in SITL
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AP_FLAKE8_CLEAN
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'''
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from __future__ import print_function
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from arducopter import AutoTestCopter
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from common import AutoTest
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from common import NotAchievedException, AutoTestTimeoutException
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from pymavlink import mavutil
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from pysim import vehicleinfo
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class AutoTestHelicopter(AutoTestCopter):
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sitl_start_loc = mavutil.location(40.072842, -105.230575, 1586, 0) # Sparkfun AVC Location
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def vehicleinfo_key(self):
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return 'Helicopter'
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def log_name(self):
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return "HeliCopter"
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def default_frame(self):
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return "heli"
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def sitl_start_location(self):
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return self.sitl_start_loc
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def default_speedup(self):
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'''Heli seems to be race-free'''
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return 100
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def is_heli(self):
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return True
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def rc_defaults(self):
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ret = super(AutoTestHelicopter, self).rc_defaults()
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ret[8] = 1000
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ret[3] = 1000 # collective
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return ret
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@staticmethod
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def get_position_armable_modes_list():
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'''filter THROW mode out of armable modes list; Heli is special-cased'''
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ret = AutoTestCopter.get_position_armable_modes_list()
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ret = filter(lambda x : x != "THROW", ret)
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return ret
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def loiter_requires_position(self):
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self.progress("Skipping loiter-requires-position for heli; rotor runup issues")
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def get_collective_out(self):
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servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
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chan_pwm = (servo.servo1_raw + servo.servo2_raw + servo.servo3_raw)/3.0
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return chan_pwm
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def rotor_runup_complete_checks(self):
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# Takeoff and landing in Loiter
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TARGET_RUNUP_TIME = 10
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self.zero_throttle()
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self.change_mode('LOITER')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
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coll = servo.servo1_raw
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coll = coll + 50
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self.set_parameter("H_RSC_RUNUP_TIME", TARGET_RUNUP_TIME)
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self.progress("Initiate Runup by putting some throttle")
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self.set_rc(8, 2000)
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self.set_rc(3, 1700)
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self.progress("Collective threshold PWM %u" % coll)
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tstart = self.get_sim_time()
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self.progress("Wait that collective PWM pass threshold value")
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servo = self.mav.recv_match(condition='SERVO_OUTPUT_RAW.servo1_raw>%u' % coll, blocking=True)
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runup_time = self.get_sim_time() - tstart
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self.progress("Collective is now at PWM %u" % servo.servo1_raw)
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self.mav.wait_heartbeat()
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if runup_time < TARGET_RUNUP_TIME:
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self.zero_throttle()
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self.set_rc(8, 1000)
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self.disarm_vehicle()
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self.mav.wait_heartbeat()
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raise NotAchievedException("Takeoff initiated before runup time complete %u" % runup_time)
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self.progress("Runup time %u" % runup_time)
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self.zero_throttle()
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self.set_rc(8, 1000)
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self.land_and_disarm()
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self.mav.wait_heartbeat()
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# fly_avc_test - fly AVC mission
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def fly_avc_test(self):
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# Arm
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self.change_mode('STABILIZE')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.progress("Raising rotor speed")
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self.set_rc(8, 2000)
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# upload mission from file
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self.progress("# Load copter_AVC2013_mission")
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# load the waypoint count
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num_wp = self.load_mission("copter_AVC2013_mission.txt", strict=False)
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if not num_wp:
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raise NotAchievedException("load copter_AVC2013_mission failed")
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self.progress("Fly AVC mission from 1 to %u" % num_wp)
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self.set_current_waypoint(1)
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# wait for motor runup
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self.delay_sim_time(20)
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# switch into AUTO mode and raise throttle
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self.change_mode('AUTO')
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self.set_rc(3, 1500)
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# fly the mission
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self.wait_waypoint(0, num_wp-1, timeout=500)
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# set throttle to minimum
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self.zero_throttle()
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# wait for disarm
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self.wait_disarmed()
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self.progress("MOTORS DISARMED OK")
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self.progress("Lowering rotor speed")
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self.set_rc(8, 1000)
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self.progress("AVC mission completed: passed!")
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def takeoff(self,
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alt_min=30,
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takeoff_throttle=1700,
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require_absolute=True,
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mode="STABILIZE",
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timeout=120):
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"""Takeoff get to 30m altitude."""
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self.progress("TAKEOFF")
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self.change_mode(mode)
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if not self.armed():
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self.wait_ready_to_arm(require_absolute=require_absolute, timeout=timeout)
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self.zero_throttle()
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self.arm_vehicle()
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self.progress("Raising rotor speed")
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self.set_rc(8, 2000)
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self.progress("wait for rotor runup to complete")
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self.wait_servo_channel_value(8, 1660, timeout=10)
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if mode == 'GUIDED':
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self.user_takeoff(alt_min=alt_min)
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else:
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self.set_rc(3, takeoff_throttle)
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self.wait_for_alt(alt_min=alt_min, timeout=timeout)
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self.hover()
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self.progress("TAKEOFF COMPLETE")
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def fly_each_frame(self):
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vinfo = vehicleinfo.VehicleInfo()
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vinfo_options = vinfo.options[self.vehicleinfo_key()]
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known_broken_frames = {
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}
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for frame in sorted(vinfo_options["frames"].keys()):
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self.start_subtest("Testing frame (%s)" % str(frame))
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if frame in known_broken_frames:
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self.progress("Actually, no I'm not - it is known-broken (%s)" %
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(known_broken_frames[frame]))
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continue
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frame_bits = vinfo_options["frames"][frame]
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print("frame_bits: %s" % str(frame_bits))
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if frame_bits.get("external", False):
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self.progress("Actually, no I'm not - it is an external simulation")
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continue
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model = frame_bits.get("model", frame)
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# the model string for Callisto has crap in it.... we
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# should really have another entry in the vehicleinfo data
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# to carry the path to the JSON.
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actual_model = model.split(":")[0]
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defaults = self.model_defaults_filepath(actual_model)
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if type(defaults) != list:
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defaults = [defaults]
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self.customise_SITL_commandline(
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["--defaults", ','.join(defaults), ],
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model=model,
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wipe=True,
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)
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self.takeoff(10)
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self.do_RTL()
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self.set_rc(8, 1000)
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def hover(self):
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self.progress("Setting hover collective")
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self.set_rc(3, 1500)
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def fly_heli_poshold_takeoff(self):
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"""ensure vehicle stays put until it is ready to fly"""
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self.context_push()
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ex = None
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try:
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self.set_parameter("PILOT_TKOFF_ALT", 700)
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self.change_mode('POSHOLD')
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self.zero_throttle()
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self.set_rc(8, 1000)
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self.wait_ready_to_arm()
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# Arm
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self.arm_vehicle()
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self.progress("Raising rotor speed")
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self.set_rc(8, 2000)
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self.progress("wait for rotor runup to complete")
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self.wait_servo_channel_value(8, 1660, timeout=10)
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self.delay_sim_time(20)
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# check we are still on the ground...
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m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
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max_relalt_mm = 1000
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if abs(m.relative_alt) > max_relalt_mm:
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raise NotAchievedException("Took off prematurely (abs(%f)>%f)" %
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(m.relative_alt, max_relalt_mm))
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self.progress("Pushing collective past half-way")
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self.set_rc(3, 1600)
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self.delay_sim_time(0.5)
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self.hover()
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# make sure we haven't already reached alt:
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m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
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max_initial_alt = 1500
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if abs(m.relative_alt) > max_initial_alt:
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raise NotAchievedException("Took off too fast (%f > %f" %
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(abs(m.relative_alt), max_initial_alt))
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self.progress("Monitoring takeoff-to-alt")
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self.wait_altitude(6.9, 8, relative=True)
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self.progress("Making sure we stop at our takeoff altitude")
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tstart = self.get_sim_time()
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while self.get_sim_time() - tstart < 5:
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m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
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delta = abs(7000 - m.relative_alt)
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self.progress("alt=%f delta=%f" % (m.relative_alt/1000,
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delta/1000))
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if delta > 1000:
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raise NotAchievedException("Failed to maintain takeoff alt")
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self.progress("takeoff OK")
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except Exception as e:
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self.print_exception_caught(e)
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ex = e
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self.land_and_disarm()
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self.set_rc(8, 1000)
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self.context_pop()
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if ex is not None:
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raise ex
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def fly_heli_stabilize_takeoff(self):
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""""""
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self.context_push()
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ex = None
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try:
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self.change_mode('STABILIZE')
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self.set_rc(3, 1000)
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self.set_rc(8, 1000)
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.set_rc(8, 2000)
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self.progress("wait for rotor runup to complete")
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self.wait_servo_channel_value(8, 1660, timeout=10)
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self.delay_sim_time(20)
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# check we are still on the ground...
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m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
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if abs(m.relative_alt) > 100:
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raise NotAchievedException("Took off prematurely")
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self.progress("Pushing throttle past half-way")
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self.set_rc(3, 1600)
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self.progress("Monitoring takeoff")
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self.wait_altitude(6.9, 8, relative=True)
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self.progress("takeoff OK")
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except Exception as e:
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self.print_exception_caught(e)
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ex = e
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self.land_and_disarm()
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self.set_rc(8, 1000)
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self.context_pop()
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if ex is not None:
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raise ex
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def fly_spline_waypoint(self, timeout=600):
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"""ensure basic spline functionality works"""
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self.load_mission("copter_spline_mission.txt", strict=False)
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self.change_mode("LOITER")
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.progress("Raising rotor speed")
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self.set_rc(8, 2000)
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self.delay_sim_time(20)
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self.change_mode("AUTO")
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self.set_rc(3, 1500)
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tstart = self.get_sim_time()
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while True:
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if self.get_sim_time() - tstart > timeout:
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raise AutoTestTimeoutException("Vehicle did not disarm after mission")
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if not self.armed():
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break
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self.delay_sim_time(1)
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self.progress("Lowering rotor speed")
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self.set_rc(8, 1000)
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def fly_autorotation(self, timeout=600):
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"""ensure basic spline functionality works"""
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self.set_parameter("AROT_ENABLE", 1)
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start_alt = 100 # metres
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self.set_parameter("PILOT_TKOFF_ALT", start_alt * 100)
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self.change_mode('POSHOLD')
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self.set_rc(3, 1000)
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self.set_rc(8, 1000)
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.set_rc(8, 2000)
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self.progress("wait for rotor runup to complete")
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self.wait_servo_channel_value(8, 1660, timeout=10)
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self.delay_sim_time(20)
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self.set_rc(3, 2000)
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self.wait_altitude(start_alt - 1,
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(start_alt + 5),
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relative=True,
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timeout=timeout)
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self.context_collect('STATUSTEXT')
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self.progress("Triggering autorotate by raising interlock")
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self.set_rc(8, 1000)
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self.wait_statustext("SS Glide Phase", check_context=True)
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self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s",
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check_context=True,
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regex=True)
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speed = float(self.re_match.group(1))
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if speed > 30:
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raise NotAchievedException("Hit too hard")
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self.wait_disarmed()
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def set_rc_default(self):
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super(AutoTestHelicopter, self).set_rc_default()
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self.progress("Lowering rotor speed")
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self.set_rc(8, 1000)
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def fly_mission(self, filename, strict=True):
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num_wp = self.load_mission(filename, strict=strict)
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self.change_mode("LOITER")
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.set_rc(8, 2000) # Raise rotor speed
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self.delay_sim_time(20)
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self.change_mode("AUTO")
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self.set_rc(3, 1500)
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self.wait_waypoint(1, num_wp-1)
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self.wait_disarmed()
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self.set_rc(8, 1000) # Lower rotor speed
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# FIXME move this & plane's version to common
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def test_airspeed_drivers(self, timeout=600):
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# set the start location to CMAC to use same test script as other vehicles
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self.sitl_start_loc = mavutil.location(-35.362881, 149.165222, 582.000000, 90.0) # CMAC
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self.customise_SITL_commandline(["--home", "%s,%s,%s,%s"
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% (-35.362881, 149.165222, 582.000000, 90.0)])
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# insert listener to compare airspeeds:
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airspeed = [None, None]
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def check_airspeeds(mav, m):
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m_type = m.get_type()
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if (m_type == 'NAMED_VALUE_FLOAT' and
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m.name == 'AS2'):
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airspeed[1] = m.value
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elif m_type == 'VFR_HUD':
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airspeed[0] = m.airspeed
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else:
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return
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if airspeed[0] is None or airspeed[1] is None:
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return
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delta = abs(airspeed[0] - airspeed[1])
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if delta > 3:
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raise NotAchievedException("Airspeed mismatch (as1=%f as2=%f)" % (airspeed[0], airspeed[1]))
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# Copter's airspeed sensors are off by default
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self.set_parameter("ARSPD_TYPE", 2) # Analog airspeed driver
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self.set_parameter("ARSPD_PIN", 1) # Analog airspeed driver pin for SITL
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self.reboot_sitl()
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airspeed_sensors = [
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("MS5525", 3, 1),
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("DLVR", 7, 2),
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]
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for (name, t, bus) in airspeed_sensors:
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self.context_push()
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if bus is not None:
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self.set_parameter("ARSPD2_BUS", bus)
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self.set_parameter("ARSPD2_TYPE", t)
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self.reboot_sitl()
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.install_message_hook_context(check_airspeeds)
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self.fly_mission("ap1.txt", strict=False)
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if airspeed[0] is None:
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raise NotAchievedException("Never saw an airspeed1")
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if airspeed[1] is None:
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raise NotAchievedException("Never saw an airspeed2")
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self.context_pop()
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if not self.current_onboard_log_contains_message("ARSP"):
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raise NotAchievedException("Expected ARSP log message")
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self.reboot_sitl()
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def tests(self):
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'''return list of all tests'''
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ret = AutoTest.tests(self)
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ret.extend([
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("AVCMission", "Fly AVC mission", self.fly_avc_test),
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("RotorRunUp",
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"Test rotor runup",
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self.rotor_runup_complete_checks),
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("PosHoldTakeOff",
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"Fly POSHOLD takeoff",
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self.fly_heli_poshold_takeoff),
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("StabilizeTakeOff",
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"Fly stabilize takeoff",
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self.fly_heli_stabilize_takeoff),
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("SplineWaypoint",
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"Fly Spline Waypoints",
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self.fly_spline_waypoint),
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("AutoRotation",
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"Fly AutoRotation",
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self.fly_autorotation),
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("FlyEachFrame",
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"Fly each supported internal frame",
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self.fly_each_frame),
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("LogUpload",
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"Log upload",
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self.log_upload),
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("AirspeedDrivers",
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"Test AirSpeed drivers",
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self.test_airspeed_drivers),
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])
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return ret
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def disabled_tests(self):
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return {
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}
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