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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 pexpect
from pymavlink import mavutil
from pysim import util
from common import AutoTest
from common import NotAchievedException, AutoTestTimeoutException, PreconditionFailedException
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
HOME = mavutil.location(-35.362938, 149.165085, 584, 270)
AVCHOME = 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):
def __init__(self, binary,
valgrind=False,
gdb=False,
speedup=10,
frame=None,
params=None,
gdbserver=False,
breakpoints=[],
**kwargs):
super(AutoTestCopter, self).__init__(**kwargs)
self.binary = binary
self.valgrind = valgrind
self.gdb = gdb
self.frame = frame
self.params = params
self.gdbserver = gdbserver
self.breakpoints = breakpoints
self.home = "%f,%f,%u,%u" % (HOME.lat,
HOME.lng,
HOME.alt,
HOME.heading)
self.homeloc = None
self.speedup = speedup
self.log_name = "ArduCopter"
self.sitl = None
self.hasInit = False
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 init(self):
if self.frame is None:
self.frame = '+'
if self.frame == 'heli':
self.log_name = "HeliCopter"
self.home = "%f,%f,%u,%u" % (AVCHOME.lat,
AVCHOME.lng,
AVCHOME.alt,
AVCHOME.heading)
self.sitl = util.start_SITL(self.binary,
model=self.frame,
home=self.home,
speedup=self.speedup,
valgrind=self.valgrind,
gdb=self.gdb,
gdbserver=self.gdbserver,
breakpoints=self.breakpoints,
vicon=True,
wipe=True)
self.mavproxy = util.start_MAVProxy_SITL(
'ArduCopter', options=self.mavproxy_options())
self.mavproxy.expect('Telemetry log: (\S+)\r\n')
self.logfile = self.mavproxy.match.group(1)
self.progress("LOGFILE %s" % self.logfile)
self.try_symlink_tlog()
self.progress("WAITING FOR PARAMETERS")
self.mavproxy.expect('Received [0-9]+ parameters')
self.apply_defaultfile_parameters()
util.expect_setup_callback(self.mavproxy, self.expect_callback)
self.expect_list_clear()
self.expect_list_extend([self.sitl, self.mavproxy])
self.progress("Started simulator")
self.get_mavlink_connection_going()
self.hasInit = True
self.progress("Ready to start testing!")
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 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):
"""Takeoff get to 30m altitude."""
self.progress("TAKEOFF")
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
if not self.armed():
self.progress("Waiting reading for arm")
self.wait_ready_to_arm(require_absolute=require_absolute)
self.set_rc(3, 1000)
self.arm_vehicle()
self.set_rc(3, takeoff_throttle)
self.wait_for_alt(alt_min=alt_min)
self.hover()
self.progress("TAKEOFF COMPLETE")
def wait_for_alt(self, alt_min=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)
def land(self, timeout=60):
"""Land the quad."""
self.progress("STARTING LANDING")
self.mavproxy.send('switch 2\n') # land mode
self.wait_mode('LAND', timeout=timeout)
self.progress("Entered Landing Mode")
self.wait_altitude(-5, 1, relative=True, timeout=timeout)
self.progress("LANDING: ok!")
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.mavproxy.send('switch 5\n') # loiter mode
self.wait_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() < 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)
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):
"""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.mavproxy.send('switch 5\n')
self.wait_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)
self.mav.recv_match(condition='RC_CHANNELS.chan4_raw==1500',
blocking=True)
# save bottom left corner of box as waypoint
self.progress("Save WP 1 & 2")
self.save_wp()
# switch back to stabilize mode
self.mavproxy.send('switch 6\n')
self.wait_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()
# enter RTL mode and wait for the vehicle to disarm
def fly_RTL(self, timeout=250):
"""Return, land."""
self.progress("# Enter RTL")
self.mavproxy.send('switch 3\n')
self.set_rc(3, 1500)
tstart = self.get_sim_time()
while self.get_sim_time() < 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() # requires a GPS fix to function
home_distance = self.get_distance(HOME, pos)
home = ""
if alt <= 1 and home_distance < 10:
home = "HOME"
self.progress("Alt: %u HomeDist: %.0f %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_throttle_failsafe(self, side=60, timeout=180):
"""Fly east, Failsafe, return, land."""
# switch to loiter mode temporarily to stop us from rising
self.mavproxy.send('switch 5\n')
self.wait_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()
# switch to stabilize mode
self.mavproxy.send('switch 6\n')
self.wait_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")
self.set_rc(3, 900)
tstart = self.get_sim_time()
while self.get_sim_time() < 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: %u 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.mavproxy.send('switch 2\n') # land mode
self.wait_mode('LAND')
self.progress("Waiting for disarm")
self.mav.motors_disarmed_wait()
self.progress("Reached failsafe home OK")
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
self.set_rc(3, 1000)
self.arm_vehicle()
return
# reduce throttle
self.set_rc(3, 1100)
# switch back to stabilize mode
self.mavproxy.send('switch 2\n') # land mode
self.wait_mode('LAND')
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
raise AutoTestTimeoutException(
("Failed to land on failsafe RTL - "
"timed out after %u seconds" % timeout))
def fly_battery_failsafe(self, timeout=300):
# switch to loiter mode so that we hold position
self.mavproxy.send('switch 5\n')
self.wait_mode('LOITER')
self.set_rc(3, 1500)
# 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)
# disable battery failsafe
self.set_parameter('BATT_FS_LOW_ACT', 0)
self.set_parameter('SIM_BATT_VOLTAGE', 13)
self.progress("Successfully entered LAND after battery failsafe")
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):
"""Hold loiter position."""
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_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() < 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)
# fly_fence_test - fly east until you hit the horizontal circular fence
def fly_fence_test(self, timeout=180):
"""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)
# 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
pitching_forward = True
self.set_rc(2, 1100)
self.wait_distance(20)
# start timer
tstart = self.get_sim_time()
while self.get_sim_time() < 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: %f HomeDistance: %.0f" %
(alt, home_distance))
# recenter pitch sticks once we're home so we don't fly off again
if pitching_forward and home_distance < 10:
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.set_rc(3, 1000)
self.mavproxy.send('switch 2\n') # land mode
self.wait_mode('LAND')
self.progress("Waiting for disarm")
self.mav.motors_disarmed_wait()
self.progress("Reached home OK")
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
self.set_rc(3, 1000)
# remove if we ever clear battery failsafe flag on disarm:
self.mavproxy.send('arm uncheck all\n')
self.arm_vehicle()
# remove if we ever clear battery failsafe flag on disarm:
self.mavproxy.send('arm check all\n')
self.progress("Reached home OK")
return
# disable fence, enable avoidance
self.set_parameter("FENCE_ENABLE", 0)
self.set_parameter("AVOID_ENABLE", 1)
# reduce throttle
self.set_rc(3, 1000)
# switch mode to stabilize
self.mavproxy.send('switch 2\n') # land mode
self.wait_mode('LAND')
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
self.progress()
raise AutoTestTimeoutException(
("Fence test failed to reach home - "
"timed out after %u seconds" % timeout))
# fly_alt_fence_test - fly up until you hit the fence
def fly_alt_max_fence_test(self):
"""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.set_rc(3, 1000)
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
# remove if we ever clear battery failsafe flag on disarm
self.mavproxy.send('arm uncheck all\n')
self.arm_vehicle()
# remove if we ever clear battery failsafe flag on disarm:
self.mavproxy.send('arm check all\n')
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.mavproxy.send('switch 5\n') # loiter mode
self.wait_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.mavproxy.send('param set SIM_GPS_GLITCH_X %.7f\n' %
glitch_lat[glitch_current])
self.mavproxy.send('param set SIM_GPS_GLITCH_Y %.7f\n' %
glitch_lon[glitch_current])
# record position for 30 seconds
while tnow < tstart + timeout:
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
# 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.mavproxy.send('param set SIM_GPS_GLITCH_X %.7f\n' %
glitch_lat[glitch_current])
self.mavproxy.send('param set SIM_GPS_GLITCH_Y %.7f\n' %
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: %u Moved: %.0f" % (alt, moved_distance))
if moved_distance > max_distance:
self.progress()
raise NotAchievedException(
"Moved over %u meters, Failed!" % max_distance)
# 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))
# fly_gps_glitch_auto_test - fly mission and test reaction to gps glitch
def fly_gps_glitch_auto_test(self, timeout=120):
# 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
global num_wp
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')
# 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.mavproxy.send('param set SIM_GPS_GLITCH_X %.7f\n' %
glitch_lat[glitch_current])
self.mavproxy.send('param set SIM_GPS_GLITCH_Y %.7f\n' %
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.mavproxy.send('param set SIM_GPS_GLITCH_X %.7f\n' %
glitch_lat[glitch_current])
self.mavproxy.send('param set SIM_GPS_GLITCH_Y %.7f\n' %
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)
pos = self.mav.location()
dist_to_home = self.get_distance(HOME, pos)
while dist_to_home > 5:
if self.get_sim_time() > (tstart + timeout):
raise AutoTestTimeoutException(
("GPS Glitch testing failed"
"- exceeded timeout %u seconds" % timeout))
self.mav.recv_match(type='VFR_HUD', blocking=True)
pos = self.mav.location()
dist_to_home = self.get_distance(HOME, pos)
self.progress("Dist from home: %u" % dist_to_home)
# 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!")
# 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):
# 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() < (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() < (tstart + 8):
self.mav.recv_match(type='VFR_HUD', blocking=True)
self.set_rc(2, 1500)
# restore to default
self.set_parameter("SIMPLE", 0)
# hover in place
self.hover()
# fly_super_simple - flies a circle around home for 45 seconds
def fly_super_simple(self, timeout=45):
# hold position in loiter
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_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.mavproxy.send('switch 6\n')
self.wait_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() < (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()
# fly_circle - flies a circle with 20m radius
def fly_circle(self, holdtime=36):
# hold position in loiter
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_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() < tstart + holdtime:
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
self.progress("heading %u" % m.heading)
self.progress("CIRCLE OK for %u seconds" % holdtime)
# 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_ENABLE", 1)
self.set_parameter("RNGFND_TYPE", 1)
self.set_parameter("RNGFND_MIN_CM", 0)
self.set_parameter("RNGFND_MAX_CM", 4000)
self.set_parameter("RNGFND_PIN", 0)
self.set_parameter("RNGFND_SCALING", 12.12, epsilon=0.01)
self.set_parameter("SIM_GPS_DISABLE", 1)
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
self.progress("%0.1f: Low Speed: %f" %
(self.get_sim_time_cached() - tstart, spd))
if spd > 8:
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.reboot_sitl()
if ex is not None:
raise ex
# fly_autotune - autotune the virtual vehicle
def fly_autotune(self):
# 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:
return
self.progress()
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
global num_wp
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')
# 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.set_rc(3, 1000)
# wait for disarm
self.mav.motors_disarmed_wait()
self.progress("MOTORS DISARMED OK")
self.progress("Auto mission completed: passed!")
def load_mission(self, mission):
path = os.path.join(testdir, mission)
return self.load_mission_from_file(path)
# fly_avc_test - fly AVC mission
def fly_avc_test(self):
# upload mission from file
self.progress("# Load copter_AVC2013_mission")
# load the waypoint count
global num_wp
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.set_rc(3, 1000)
# wait for disarm
self.mav.motors_disarmed_wait()
self.progress("MOTORS DISARMED OK")
self.progress("AVC 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.mavproxy.send('switch 5\n') # loiter mode
self.wait_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 self.get_sim_time() < tstart + holdtime + hover_time:
ti = self.get_sim_time()
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 self.get_sim_time() - 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" %
(self.get_sim_time()-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() - ti
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 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
return True
def fly_mission(self):
"""Fly a mission from a file."""
global num_wp
self.progress("test: Fly a mission from 1 to %u" % num_wp)
self.mavproxy.send('wp set 1\n')
self.mavproxy.send('switch 4\n') # auto mode
self.wait_mode('AUTO')
self.wait_waypoint(0, num_wp-1, timeout=500)
self.progress("test: MISSION COMPLETE: passed!")
# wait here until ready
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_mode('LOITER')
self.set_rc(3, 1500)
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.mav.wait_heartbeat()
self.wait_mode('STABILIZE')
self.progress("Waiting reading for arm")
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(time.time() * 1000000, 0)
self.mav.mav.set_gps_global_origin_send(1,
old_pos.lat,
old_pos.lon,
old_pos.alt)
self.progress("Waiting for non-zero-lat")
tstart = self.get_sim_time()
while True:
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() - tstart > 10:
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() - 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() - 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")
ex = e
self.context_pop()
self.set_rc(3, 1000)
self.reboot_sitl()
if ex is not None:
raise ex
def fly_nav_delay(self):
"""Fly a simple mission that has a delay in it."""
self.load_mission("copter_nav_delay.txt")
self.mavproxy.send('mode loiter\n')
self.mav.wait_heartbeat()
self.wait_mode('LOITER')
self.progress("Waiting reading for arm")
self.wait_ready_to_arm()
self.context_push()
ex = None
try:
self.arm_vehicle()
self.mavproxy.send('mode auto\n')
self.wait_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)
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" %
(m.seq, dist))
last_mission_current_msg = self.get_sim_time_cached()
last_seq = m.seq
if m.seq == 3:
self.progress("At delay item")
if count_start == -1:
count_start = now
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")
except Exception as e:
self.progress("Exception caught")
ex = e
self.set_rc(3, 1000)
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
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))
if (tried_set and
st.seq == seq and
st.command == command and
st.param2 == hours and
st.param3 == mins and
st.param4 == secs):
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.progress("Starting mission")
self.mavproxy.send('mode loiter\n') # stabilize mode
self.mav.wait_heartbeat()
self.wait_mode('LOITER')
self.progress("Waiting reading for arm")
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.context_push()
ex = None
try:
self.arm_vehicle()
self.mavproxy.send('mode auto\n') # stabilize mode
self.wait_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()
if now - tstart > 120:
raise AutoTestTimeoutException("Did not disarm as expected")
m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True)
self.progress("MISSION_CURRENT.seq=%u" % (m.seq,))
if m.seq == delay_item_seq:
self.progress("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")
except Exception as e:
self.progress("Exception caught")
ex = e
self.set_rc(3, 1000)
if ex is not None:
raise ex
def fly_nav_takeoff_delay_abstime(self):
"""make sure taking off at a specific time works"""
num_wp = self.load_mission("copter_nav_delay_takeoff.txt")
self.progress("Starting mission")
self.mavproxy.send('mode loiter\n') # stabilize mode
self.mav.wait_heartbeat()
self.wait_mode('LOITER')
self.progress("Waiting reading for arm")
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.context_push();
ex = None
try:
self.arm_vehicle()
self.mavproxy.send('mode auto\n') # stabilize mode
self.wait_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")
except Exception as e:
self.progress("Exception caught")
ex = e
self.set_rc(3, 1000)
if ex is not None:
raise ex
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")
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")
ex = e
self.context_pop()
if ex is not None:
raise ex
def fly_guided_change_submode(self):
""""Ensure we can move around in guided after a takeoff command."""
self.context_push()
ex = None
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.mavproxy.send('mode guided\n') # stabilize mode
self.wait_mode('GUIDED')
self.wait_ready_to_arm()
self.arm_vehicle()
self.user_takeoff(alt_min=10)
startpos = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
"""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"""
tstart = self.get_sim_time()
while True:
if self.get_sim_time() - 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
5, # lat
5, # lon
10, # 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
self.progress("Landing")
self.mavproxy.send('switch 2\n') # land mode
self.wait_mode('LAND')
self.mav.motors_disarmed_wait()
except Exception as e:
self.progress("Exception caught")
ex = e
self.context_pop()
self.set_rc(3, 1000)
self.reboot_sitl()
if ex is not None:
raise ex
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.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")
self.mavproxy.send('mode land\n')
ex = e
self.context_pop()
self.mav.motors_disarmed_wait()
if ex is not None:
raise ex
def autotest(self):
"""Autotest ArduCopter in SITL."""
self.check_test_syntax(test_file=os.path.realpath(__file__))
if not self.hasInit:
self.init()
self.fail_list = []
try:
self.progress("Waiting for a heartbeat with mavlink protocol %s"
% self.mav.WIRE_PROTOCOL_VERSION)
self.mav.wait_heartbeat()
self.progress("Setting up RC parameters")
self.set_rc_default()
self.set_rc(3, 1000)
self.run_test("Fly Nav Delay (takeoff)",
self.fly_nav_takeoff_delay_abstime)
self.run_test("Fly Nav Delay (AbsTime)",
self.fly_nav_delay_abstime)
self.run_test("Fly Nav Delay", self.fly_nav_delay)
self.run_test("Test submode change",
self.fly_guided_change_submode)
self.progress("Waiting for location")
self.homeloc = self.mav.location()
self.progress("Home location: %s" % self.homeloc)
self.mavproxy.send('switch 6\n') # stabilize mode
self.mav.wait_heartbeat()
self.wait_mode('STABILIZE')
self.progress("Waiting reading for arm")
self.wait_ready_to_arm()
self.run_test("Set modes via modeswitch",
self.test_setting_modes_via_modeswitch)
self.run_test("Set modes via auxswitch",
self.test_setting_modes_via_auxswitch)
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
self.mavproxy.send("wp clear\n")
# Arm
self.run_test("Arm features", self.test_arm_feature)
self.arm_vehicle()
# Takeoff
self.run_test("Takeoff to test fly Square",
lambda: self.takeoff(10))
# AutoTune mode
self.run_test("Fly AUTOTUNE mode", self.fly_autotune)
# Fly a square in Stabilize mode
self.run_test("Fly a square and save WPs with CH7",
self.fly_square)
# save the stored mission to file
global num_wp
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")
# fly the stored mission
self.run_test("Fly CH7 saved mission", self.fly_mission)
# Throttle Failsafe
self.run_test("Test Failsafe", self.fly_throttle_failsafe)
# Takeoff
self.run_test("Takeoff to test battery failsafe",
lambda: self.takeoff(10))
# Battery failsafe
self.run_test("Fly Battery Failsafe", self.fly_battery_failsafe)
# Takeoff
self.run_test("Takeoff to test stability patch",
lambda: self.takeoff(10))
# Stability patch
self.run_test("Fly stability patch",
lambda: self.fly_stability_patch(30))
# RTL
self.run_test("RTL after stab patch", self.fly_RTL)
# Takeoff
self.run_test("Takeoff to test horizontal fence",
lambda: self.takeoff(10))
# Fence test
self.run_test("Test horizontal fence",
lambda: self.fly_fence_test(180))
# Takeoff
self.run_test("Takeoff to test Max Alt fence",
lambda: self.takeoff(10))
# Fence test
self.run_test("Test Max Alt Fence", self.fly_alt_max_fence_test)
# Takeoff
self.run_test("Takeoff to test GPS glitch loiter",
lambda: self.takeoff(10))
# Fly GPS Glitch Loiter test
self.run_test("GPS Glitch Loiter Test",
self.fly_gps_glitch_loiter_test)
# RTL after GPS Glitch Loiter test
self.run_test("RTL after GPS Glitch Loiter test", self.fly_RTL)
# Arm
self.mavproxy.send('mode stabilize\n') # stabilize mode
self.wait_mode('STABILIZE')
self.set_rc(3, 1000)
self.run_test("Arm motors", self.arm_vehicle)
# Fly GPS Glitch test in auto mode
self.run_test("GPS Glitch Auto Test",
self.fly_gps_glitch_auto_test)
# Takeoff
self.run_test("Takeoff to test loiter", lambda: self.takeoff(10))
# Loiter for 10 seconds
self.run_test("Test Loiter for 10 seconds", self.loiter)
# Loiter Climb
self.run_test("Loiter - climb to 30m", lambda: self.change_alt(30))
# Loiter Descend
self.run_test("Loiter - descend to 20m",
lambda: self.change_alt(20))
# RTL
self.run_test("RTL after Loiter climb/descend", self.fly_RTL)
# Takeoff
self.run_test("Takeoff to test fly SIMPLE mode",
lambda: self.takeoff(10))
# Simple mode
self.run_test("Fly in SIMPLE mode", self.fly_simple)
# RTL
self.run_test("RTL after SIMPLE mode", self.fly_RTL)
# Takeoff
self.run_test("Takeoff to test circle in SUPER SIMPLE mode",
lambda: self.takeoff(10))
# Fly a circle in super simple mode
self.run_test("Fly a circle in SUPER SIMPLE mode",
self.fly_super_simple)
# RTL
self.run_test("RTL after SUPER SIMPLE mode", self.fly_RTL)
# Takeoff
self.run_test("Takeoff to test CIRCLE mode",
lambda: self.takeoff(10))
# Circle mode
self.run_test("Fly CIRCLE mode", self.fly_circle)
# Optical flow limits test
self.run_test("Fly Optical Flow limits",
self.fly_optical_flow_limits)
# RTL
self.run_test("RTL after CIRCLE mode", self.fly_RTL)
# Arm
self.set_rc(3, 1000)
self.mavproxy.send('mode stabilize\n') # stabilize mode
self.wait_mode('STABILIZE')
# Takeoff
self.run_test("Takeoff to test motor failure",
lambda: self.takeoff(10))
self.run_test("Fly motor failure test",
self.fly_motor_fail)
# RTL
self.run_test("RTL after motor failure test", self.fly_RTL)
# Arm
self.set_rc(3, 1000)
self.mavproxy.send('mode stabilize\n') # stabilize mode
self.wait_mode('STABILIZE')
self.run_test("Arm motors", self.arm_vehicle)
# Fly auto test
self.run_test("Fly copter mission", self.fly_auto_test)
# land
self.run_test("Fly copter mission", self.land)
# wait for disarm
self.mav.motors_disarmed_wait()
# Gripper test
self.run_test("Test gripper", self.test_gripper)
self.run_test("Test gripper mission items",
self.test_gripper_mission);
'''vision position''' # expects vehicle to be disarmed
self.run_test("Fly Vision Position", self.fly_vision_position)
# Download logs
self.run_test("log download",
lambda: self.log_download(
self.buildlogs_path("ArduCopter-log.bin")))
except pexpect.TIMEOUT:
self.progress("Failed with timeout")
self.fail_list.append("Failed with timeout")
self.close()
if len(self.fail_list):
self.progress("FAILED : %s" % self.fail_list)
return False
return True
def autotest_heli(self):
"""Autotest Helicopter in SITL with AVC2013 mission."""
self.frame = 'heli'
if not self.hasInit:
self.init()
self.fail_list = []
try:
self.mav.wait_heartbeat()
self.set_rc_default()
self.set_rc(3, 1000)
self.homeloc = self.mav.location()
self.progress("Lowering rotor speed")
self.set_rc(8, 1000)
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
self.wait_ready_to_arm()
self.run_test("Arm features", self.test_arm_feature)
# Arm
self.run_test("Arm motors", self.arm_vehicle)
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
self.run_test("Fly AVC mission", self.fly_avc_test)
self.progress("Lowering rotor speed")
self.set_rc(8, 1000)
# mission ends with disarm so should be ok to download logs now
self.run_test("log download",
lambda: self.log_download(
self.buildlogs_path("Helicopter-log.bin")))
except pexpect.TIMEOUT:
self.fail_list.append("Failed with timeout")
self.close()
if len(self.fail_list):
self.progress("FAILED: %s" % self.fail_list)
return False
return True
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