mirror of https://github.com/ArduPilot/ardupilot
74 lines
2.2 KiB
Python
Executable File
74 lines
2.2 KiB
Python
Executable File
#!/usr/bin/env python3
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import pexpect, time, sys
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from pymavlink import mavutil
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def wait_heartbeat(mav, timeout=10):
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'''wait for a heartbeat'''
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start_time = time.time()
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while time.time() < start_time+timeout:
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if mav.recv_match(type='HEARTBEAT', blocking=True, timeout=0.5) is not None:
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return
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raise Exception("Failed to get heartbeat")
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def wait_mode(mav, modes, timeout=10):
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'''wait for one of a set of flight modes'''
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start_time = time.time()
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last_mode = None
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while time.time() < start_time+timeout:
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wait_heartbeat(mav, timeout=10)
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if mav.flightmode != last_mode:
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print("Flightmode %s" % mav.flightmode)
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last_mode = mav.flightmode
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if mav.flightmode in modes:
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return
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print("Failed to get mode from %s" % modes)
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sys.exit(1)
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def wait_prearm_ok(mav, timeout=30):
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'''wait for pre-arm OK'''
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start_time = time.time()
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last_mode = None
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while time.time() < start_time+timeout:
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m = mav.recv_match(type='SYS_STATUS', blocking=True, timeout=2)
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if m is None:
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return
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if m.onboard_control_sensors_health & mavutil.mavlink.MAV_SYS_STATUS_PREARM_CHECK != 0:
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print("Prearm OK")
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return
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print("Failed to get pre-arm OK")
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sys.exit(1)
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def wait_time(mav, simtime):
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'''wait for simulation time to pass'''
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imu = mav.recv_match(type='RAW_IMU', blocking=True)
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t1 = imu.time_usec*1.0e-6
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while True:
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imu = mav.recv_match(type='RAW_IMU', blocking=True)
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t2 = imu.time_usec*1.0e-6
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if t2 - t1 > simtime:
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break
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cmd = '../Tools/autotest/sim_vehicle.py -D -f quadplane'
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mavproxy = pexpect.spawn(cmd, logfile=sys.stdout.buffer, timeout=30)
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mavproxy.expect("ArduPilot Ready")
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mav = mavutil.mavlink_connection('127.0.0.1:14550')
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mavproxy.send('speedup 40\n')
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wait_prearm_ok(mav)
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mavproxy.send('mode guided\n')
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wait_mode(mav, ['GUIDED'])
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mavproxy.send('arm throttle\n')
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mavproxy.send('takeoff 40\n')
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wait_time(mav, 30)
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mavproxy.send('mode cruise\n')
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wait_mode(mav, ['CRUISE'])
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wait_time(mav, 10)
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mavproxy.send('mode qrtl\n')
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wait_mode(mav, ['QRTL'])
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mavproxy.send('module load console\n')
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mavproxy.send('module load map\n')
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mavproxy.logfile = None
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mavproxy.interact()
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