ardupilot/Tools/autotest/balancebot.py

140 lines
4.3 KiB
Python

#!/usr/bin/env python
# Drive balancebot in SITL
from __future__ import print_function
import os
from apmrover2 import AutoTestRover
from common import AutoTest
from common import NotAchievedException
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
def log_name(self):
return "BalanceBot"
class AutoTestBalanceBot(AutoTestRover):
def vehicleinfo_key(self):
return "APMrover2"
def init(self):
if self.frame is None:
self.frame = 'balancebot'
super(AutoTestBalanceBot, self).init()
def test_do_set_mode_via_command_long(self):
self.do_set_mode_via_command_long("HOLD")
self.do_set_mode_via_command_long("MANUAL")
def rc_defaults(self):
ret = super(AutoTestBalanceBot, self).rc_defaults()
ret[3] = 1500
return ret
def is_balancebot(self):
return True
def drive_rtl_mission_max_distance_from_home(self):
'''maximum distance allowed from home at end'''
'''balancebot tends to wander backwards, away from the target'''
return 8
def drive_rtl_mission(self):
# if we Hold then the balancebot continues to wander
# indefinitely at ~1m/s, hence we set to Acro
self.set_parameter("MIS_DONE_BEHAVE", 2)
super(AutoTestBalanceBot, self).drive_rtl_mission()
def test_wheelencoders(self):
'''make sure wheel encoders are generally working'''
ex = None
try:
self.set_parameter("ATC_BAL_SPD_FF", 0)
self.set_parameter("WENC_TYPE", 10)
self.set_parameter("AHRS_EKF_TYPE", 10)
self.reboot_sitl()
self.set_parameter("WENC2_TYPE", 10)
self.set_parameter("WENC_POS_Y", 0.075)
self.set_parameter("WENC2_POS_Y", -0.075)
self.reboot_sitl()
self.change_mode("HOLD")
self.wait_ready_to_arm()
self.change_mode("ACRO")
self.arm_vehicle()
self.set_rc(3, 1600)
m = self.mav.recv_match(type='WHEEL_DISTANCE', blocking=True, timeout=5)
if m is None:
raise NotAchievedException("Did not get WHEEL_DISTANCE")
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 10:
break
dist_home = self.distance_to_home(use_cached_home=True)
m = self.mav.messages.get("WHEEL_DISTANCE")
delta = abs(m.distance[0] - dist_home)
self.progress("dist-home=%f wheel-distance=%f delta=%f" %
(dist_home, m.distance[0], delta))
if delta > 5:
raise NotAchievedException("wheel distance incorrect")
self.disarm_vehicle()
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))
self.disarm_vehicle()
ex = e
self.reboot_sitl()
if ex is not None:
raise ex
def tests(self):
'''return list of all tests'''
'''note that while AutoTestBalanceBot inherits from Rover we don't
inherit Rover's tests!'''
ret = AutoTest.tests(self)
ret.extend([
("DriveRTL",
"Drive an RTL Mission",
self.drive_rtl_mission),
("DriveMission",
"Drive Mission %s" % "balancebot1.txt",
lambda: self.drive_mission("balancebot1.txt")),
("TestWheelEncoder",
"Test wheel encoders",
self.test_wheelencoders),
("GetBanner", "Get Banner", self.do_get_banner),
("GetCapabilities",
"Get Capabilities",
self.test_get_autopilot_capabilities),
("DO_SET_MODE",
"Set mode via MAV_COMMAND_DO_SET_MODE",
self.test_do_set_mode_via_command_long),
("ServoRelayEvents",
"Test ServoRelayEvents",
self.test_servorelayevents),
("DownLoadLogs", "Download logs", lambda:
self.log_download(
self.buildlogs_path("APMrover2-log.bin"),
upload_logs=len(self.fail_list) > 0)),
])
return ret
def default_mode(self):
return 'MANUAL'