mirror of https://github.com/ArduPilot/ardupilot
1032 lines
36 KiB
Python
1032 lines
36 KiB
Python
#!/usr/bin/env python
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# Drive APMrover2 in SITL
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from __future__ import print_function
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import os
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import pexpect
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import time
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from common import AutoTest
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from common import AutoTestTimeoutException
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from common import MsgRcvTimeoutException
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from common import NotAchievedException
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from common import PreconditionFailedException
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from pysim import util
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from pymavlink import mavutil
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# get location of scripts
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testdir = os.path.dirname(os.path.realpath(__file__))
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SITL_START_LOCATION = mavutil.location(40.071374969556928,
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-105.22978898137808,
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1583.702759,
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246)
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class AutoTestRover(AutoTest):
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def __init__(self,
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binary,
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valgrind=False,
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gdb=False,
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speedup=8,
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frame=None,
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params=None,
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gdbserver=False,
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breakpoints=[],
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**kwargs):
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super(AutoTestRover, self).__init__(**kwargs)
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self.binary = binary
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self.valgrind = valgrind
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self.gdb = gdb
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self.frame = frame
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self.params = params
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self.gdbserver = gdbserver
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self.breakpoints = breakpoints
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self.speedup = speedup
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self.sitl = None
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self.log_name = "APMrover2"
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def sitl_start_location(self):
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return SITL_START_LOCATION
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def init(self):
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super(AutoTestRover, self).init(os.path.realpath(__file__))
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if self.frame is None:
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self.frame = 'rover'
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self.mavproxy_logfile = self.open_mavproxy_logfile()
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self.sitl = util.start_SITL(self.binary,
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model=self.frame,
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home=self.sitl_home(),
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speedup=self.speedup,
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valgrind=self.valgrind,
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gdb=self.gdb,
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gdbserver=self.gdbserver,
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breakpoints=self.breakpoints,
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wipe=True)
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self.mavproxy = util.start_MAVProxy_SITL(
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'APMrover2',
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logfile=self.mavproxy_logfile,
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options=self.mavproxy_options())
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self.mavproxy.expect('Telemetry log: (\S+)\r\n')
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self.logfile = self.mavproxy.match.group(1)
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self.progress("LOGFILE %s" % self.logfile)
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self.try_symlink_tlog()
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self.progress("WAITING FOR PARAMETERS")
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self.mavproxy.expect('Received [0-9]+ parameters')
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util.expect_setup_callback(self.mavproxy, self.expect_callback)
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self.expect_list_clear()
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self.expect_list_extend([self.sitl, self.mavproxy])
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self.progress("Started simulator")
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self.get_mavlink_connection_going()
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self.apply_defaultfile_parameters()
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self.progress("Ready to start testing!")
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def is_rover(self):
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return True
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def get_rudder_channel(self):
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return int(self.get_parameter("RCMAP_ROLL"))
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##########################################################
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# TESTS DRIVE
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##########################################################
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# Drive a square in manual mode
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def drive_square(self, side=50):
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"""Drive a square, Driving N then E ."""
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self.context_push()
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ex = None
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try:
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self.progress("TEST SQUARE")
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self.set_parameter("RC7_OPTION", 7)
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self.set_parameter("RC8_OPTION", 58)
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self.mavproxy.send('switch 5\n')
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self.wait_mode('MANUAL')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.clear_wp()
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# first aim north
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self.progress("\nTurn right towards north")
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self.reach_heading_manual(10)
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# save bottom left corner of box as home AND waypoint
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self.progress("Save HOME")
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self.save_wp()
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self.progress("Save WP")
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self.save_wp()
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# pitch forward to fly north
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self.progress("\nGoing north %u meters" % side)
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self.reach_distance_manual(side)
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# save top left corner of square as waypoint
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self.progress("Save WP")
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self.save_wp()
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# roll right to fly east
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self.progress("\nGoing east %u meters" % side)
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self.reach_heading_manual(100)
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self.reach_distance_manual(side)
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# save top right corner of square as waypoint
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self.progress("Save WP")
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self.save_wp()
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# pitch back to fly south
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self.progress("\nGoing south %u meters" % side)
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self.reach_heading_manual(190)
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self.reach_distance_manual(side)
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# save bottom right corner of square as waypoint
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self.progress("Save WP")
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self.save_wp()
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# roll left to fly west
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self.progress("\nGoing west %u meters" % side)
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self.reach_heading_manual(280)
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self.reach_distance_manual(side)
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# save bottom left corner of square (should be near home) as waypoint
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self.progress("Save WP")
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self.save_wp()
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self.progress("Checking number of saved waypoints")
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num_wp = self.save_mission_to_file(
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os.path.join(testdir, "rover-ch7_mission.txt"))
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expected = 7 # home + 6 toggled in
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if num_wp != expected:
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raise NotAchievedException("Did not get %u waypoints; got %u" %
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(expected, num_wp))
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# TODO: actually drive the mission
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self.clear_wp()
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except Exception as e:
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self.progress("Caught exception: %s" % str(e))
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ex = e
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self.disarm_vehicle()
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self.context_pop()
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if ex:
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raise ex
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def drive_left_circuit(self):
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"""Drive a left circuit, 50m on a side."""
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self.mavproxy.send('switch 6\n')
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self.wait_mode('MANUAL')
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self.set_rc(3, 2000)
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self.progress("Driving left circuit")
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# do 4 turns
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for i in range(0, 4):
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# hard left
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self.progress("Starting turn %u" % i)
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self.set_rc(1, 1000)
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self.wait_heading(270 - (90*i), accuracy=10)
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self.set_rc(1, 1500)
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self.progress("Starting leg %u" % i)
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self.wait_distance(50, accuracy=7)
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self.set_rc(3, 1500)
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self.progress("Circuit complete")
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# def test_throttle_failsafe(self, home, distance_min=10, side=60,
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# timeout=300):
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# """Fly east, Failsafe, return, land."""
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#
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# self.mavproxy.send('switch 6\n') # manual mode
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# self.wait_mode('MANUAL')
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# self.mavproxy.send("param set FS_ACTION 1\n")
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#
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# # first aim east
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# self.progress("turn east")
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# if not self.reach_heading_manual(135):
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# return False
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#
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# # fly east 60 meters
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# self.progress("# Going forward %u meters" % side)
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# if not self.reach_distance_manual(side):
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# return False
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#
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# # pull throttle low
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# self.progress("# Enter Failsafe")
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# self.mavproxy.send('rc 3 900\n')
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#
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# tstart = self.get_sim_time()
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# success = False
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# while self.get_sim_time() < tstart + timeout and not success:
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# m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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# pos = self.mav.location()
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# home_distance = self.get_distance(home, pos)
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# self.progress("Alt: %u HomeDistance: %.0f" %
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# (m.alt, home_distance))
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# # check if we've reached home
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# if home_distance <= distance_min:
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# self.progress("RTL Complete")
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# success = True
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#
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# # reduce throttle
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# self.mavproxy.send('rc 3 1500\n')
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# self.mavproxy.expect('APM: Failsafe ended')
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# self.mavproxy.send('switch 2\n') # manual mode
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# self.wait_heartbeat()
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# self.wait_mode('MANUAL')
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#
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# if success:
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# self.progress("Reached failsafe home OK")
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# return True
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# else:
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# self.progress("Failed to reach Home on failsafe RTL - "
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# "timed out after %u seconds" % timeout)
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# return False
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def test_sprayer(self):
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"""Test sprayer functionality."""
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self.context_push()
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ex = None
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try:
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rc_ch = 5
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pump_ch = 5
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spinner_ch = 6
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pump_ch_min = 1050
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pump_ch_trim = 1520
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pump_ch_max = 1950
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spinner_ch_min = 975
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spinner_ch_trim = 1510
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spinner_ch_max = 1975
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self.set_parameter("SPRAY_ENABLE", 1)
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self.set_parameter("SERVO%u_FUNCTION" % pump_ch, 22)
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self.set_parameter("SERVO%u_MIN" % pump_ch, pump_ch_min)
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self.set_parameter("SERVO%u_TRIM" % pump_ch, pump_ch_trim)
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self.set_parameter("SERVO%u_MAX" % pump_ch, pump_ch_max)
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self.set_parameter("SERVO%u_FUNCTION" % spinner_ch, 23)
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self.set_parameter("SERVO%u_MIN" % spinner_ch, spinner_ch_min)
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self.set_parameter("SERVO%u_TRIM" % spinner_ch, spinner_ch_trim)
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self.set_parameter("SERVO%u_MAX" % spinner_ch, spinner_ch_max)
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self.set_parameter("SIM_SPR_ENABLE", 1)
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self.fetch_parameters()
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self.set_parameter("SIM_SPR_PUMP", pump_ch)
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self.set_parameter("SIM_SPR_SPIN", spinner_ch)
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self.set_parameter("RC%u_OPTION" % rc_ch, 15)
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self.set_parameter("LOG_DISARMED", 1)
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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.progress("test bootup state - it's zero-output!")
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self.wait_servo_channel_value(spinner_ch, 0)
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self.wait_servo_channel_value(pump_ch, 0)
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self.progress("Enable sprayer")
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self.set_rc(rc_ch, 2000)
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self.progress("Testing zero-speed state")
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self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
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self.wait_servo_channel_value(pump_ch, pump_ch_min)
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self.progress("Testing turning it off")
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self.set_rc(rc_ch, 1000)
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self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
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self.wait_servo_channel_value(pump_ch, pump_ch_min)
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self.progress("Testing turning it back on")
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self.set_rc(rc_ch, 2000)
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self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
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self.wait_servo_channel_value(pump_ch, pump_ch_min)
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self.progress("Testing speed-ramping")
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self.set_rc(3, 1700) # start driving forward
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# this is somewhat empirical...
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self.wait_servo_channel_value(pump_ch, 1695, timeout=60)
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self.progress("Sprayer OK")
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except Exception as e:
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ex = e
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self.context_pop()
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self.reboot_sitl()
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if ex:
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raise ex
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#################################################
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# AUTOTEST ALL
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#################################################
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def drive_mission(self, filename):
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"""Drive a mission from a file."""
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self.progress("Driving mission %s" % filename)
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self.load_mission(filename)
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.mavproxy.send('switch 4\n') # auto mode
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self.set_rc(3, 1500)
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self.wait_mode('AUTO')
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self.wait_waypoint(1, 4, max_dist=5)
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self.wait_mode('HOLD', timeout=300)
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self.disarm_vehicle()
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self.progress("Mission OK")
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def test_gripper_mission(self):
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self.load_mission("rover-gripper-mission.txt")
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self.change_mode('AUTO')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.mavproxy.expect("Gripper Grabbed")
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self.mavproxy.expect("Gripper Released")
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self.wait_mode("HOLD")
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self.disarm_vehicle()
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def do_get_banner(self):
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self.mavproxy.send("long DO_SEND_BANNER 1\n")
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start = time.time()
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while True:
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m = self.mav.recv_match(type='STATUSTEXT',
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blocking=True,
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timeout=1)
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if m is not None and "ArduRover" in m.text:
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self.progress("banner received: %s" % m.text)
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return
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if time.time() - start > 10:
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break
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raise MsgRcvTimeoutException("banner not received")
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def drive_brake_get_stopping_distance(self, speed):
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# measure our stopping distance:
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old_cruise_speed = self.get_parameter('CRUISE_SPEED')
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old_accel_max = self.get_parameter('ATC_ACCEL_MAX')
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# controller tends not to meet cruise speed (max of ~14 when 15
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# set), thus *1.2
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self.set_parameter('CRUISE_SPEED', speed*1.2)
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# at time of writing, the vehicle is only capable of 10m/s/s accel
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self.set_parameter('ATC_ACCEL_MAX', 15)
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self.change_mode("STEERING")
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self.set_rc(3, 2000)
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self.wait_groundspeed(15, 100)
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initial = self.mav.location()
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initial_time = time.time()
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while time.time() - initial_time < 2:
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# wait for a position update from the autopilot
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start = self.mav.location()
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if start != initial:
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break
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self.set_rc(3, 1500)
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self.wait_groundspeed(0, 0.2) # why do we not stop?!
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initial = self.mav.location()
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initial_time = time.time()
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while time.time() - initial_time < 2:
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# wait for a position update from the autopilot
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stop = self.mav.location()
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if stop != initial:
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break
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delta = self.get_distance(start, stop)
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self.set_parameter('CRUISE_SPEED', old_cruise_speed)
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self.set_parameter('ATC_ACCEL_MAX', old_accel_max)
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return delta
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def drive_brake(self):
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old_using_brake = self.get_parameter('ATC_BRAKE')
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old_cruise_speed = self.get_parameter('CRUISE_SPEED')
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self.set_parameter('CRUISE_SPEED', 15)
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self.set_parameter('ATC_BRAKE', 0)
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self.arm_vehicle()
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distance_without_brakes = self.drive_brake_get_stopping_distance(15)
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# brakes on:
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self.set_parameter('ATC_BRAKE', 1)
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distance_with_brakes = self.drive_brake_get_stopping_distance(15)
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# revert state:
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self.set_parameter('ATC_BRAKE', old_using_brake)
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self.set_parameter('CRUISE_SPEED', old_cruise_speed)
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delta = distance_without_brakes - distance_with_brakes
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if delta < distance_without_brakes * 0.05: # 5% isn't asking for much
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self.disarm_vehicle()
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raise NotAchievedException("""
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Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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""" %
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(distance_with_brakes,
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distance_without_brakes,
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delta))
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self.disarm_vehicle()
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self.progress(
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"Brakes work (with=%0.2fm without=%0.2fm delta=%0.2fm)" %
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(distance_with_brakes, distance_without_brakes, delta))
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def drive_rtl_mission(self):
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self.wait_ready_to_arm()
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self.arm_vehicle()
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mission_filepath = os.path.join("ArduRover-Missions", "rtl.txt")
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self.load_mission(mission_filepath)
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self.mavproxy.send('switch 4\n') # auto mode
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self.set_rc(3, 1500)
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self.wait_mode('AUTO')
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self.mavproxy.expect('Executing RTL')
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m = self.mav.recv_match(type='NAV_CONTROLLER_OUTPUT',
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blocking=True,
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timeout=0.1)
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if m is None:
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raise MsgRcvTimeoutException(
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"Did not receive NAV_CONTROLLER_OUTPUT message")
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wp_dist_min = 5
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if m.wp_dist < wp_dist_min:
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raise PreconditionFailedException(
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"Did not start at least %u metres from destination" %
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(wp_dist_min))
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self.progress("NAV_CONTROLLER_OUTPUT.wp_dist looks good (%u >= %u)" %
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(m.wp_dist, wp_dist_min,))
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self.wait_mode('HOLD', timeout=600) # balancebot can take a long time!
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home_distance = self.distance_to_home()
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home_distance_max = 5
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if home_distance > home_distance_max:
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raise NotAchievedException(
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"Did not get home (%f metres distant > %f)" %
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(home_distance, home_distance_max))
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self.mavproxy.send('switch 6\n')
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self.wait_mode('MANUAL')
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self.disarm_vehicle()
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self.progress("RTL Mission OK")
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def wait_distance_home_gt(self, distance, timeout=60):
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home_distance = None
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tstart = self.get_sim_time()
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while self.get_sim_time() - tstart < timeout:
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# m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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if self.distance_to_home() > distance:
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return
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raise NotAchievedException("Failed to get %fm from home (now=%f)" %
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(distance, home_distance))
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def drive_fence_ac_avoidance(self):
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self.context_push()
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ex = None
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try:
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avoid_filepath = os.path.join(self.mission_directory(),
|
|
"rover-fence-ac-avoid.txt")
|
|
self.mavproxy.send("fence load %s\n" % avoid_filepath)
|
|
self.mavproxy.expect("Loaded 6 geo-fence")
|
|
self.set_parameter("FENCE_ENABLE", 0)
|
|
self.set_parameter("PRX_TYPE", 10)
|
|
self.set_parameter("RC10_OPTION", 40) # proximity-enable
|
|
self.reboot_sitl()
|
|
# start = self.mav.location()
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle()
|
|
# first make sure we can breach the fence:
|
|
self.set_rc(10, 1000)
|
|
self.change_mode("ACRO")
|
|
self.set_rc(3, 1550)
|
|
self.wait_distance_home_gt(25)
|
|
self.change_mode("RTL")
|
|
self.mavproxy.expect("APM: Reached destination")
|
|
# now enable avoidance and make sure we can't:
|
|
self.set_rc(10, 2000)
|
|
self.change_mode("ACRO")
|
|
self.wait_groundspeed(0, 0.7, timeout=60)
|
|
# watch for speed zero
|
|
self.wait_groundspeed(0, 0.2, timeout=120)
|
|
|
|
except Exception as e:
|
|
self.progress("Caught exception: %s" % str(e))
|
|
ex = e
|
|
self.context_pop()
|
|
self.mavproxy.send("fence clear\n")
|
|
self.reboot_sitl()
|
|
if ex:
|
|
raise ex
|
|
|
|
def test_servorelayevents(self):
|
|
self.mavproxy.send("relay set 0 0\n")
|
|
off = self.get_parameter("SIM_PIN_MASK")
|
|
self.mavproxy.send("relay set 0 1\n")
|
|
on = self.get_parameter("SIM_PIN_MASK")
|
|
if on == off:
|
|
raise NotAchievedException(
|
|
"Pin mask unchanged after relay cmd")
|
|
self.progress("Pin mask changed after relay command")
|
|
|
|
def test_setting_modes_via_mavproxy_switch(self):
|
|
fnoo = [(1, 'MANUAL'),
|
|
(2, 'MANUAL'),
|
|
(3, 'RTL'),
|
|
# (4, 'AUTO'), # no mission, can't set auto
|
|
(5, 'RTL'), # non-existant mode, should stay in RTL
|
|
(6, 'MANUAL')]
|
|
for (num, expected) in fnoo:
|
|
self.mavproxy.send('switch %u\n' % num)
|
|
self.wait_mode(expected)
|
|
|
|
def test_setting_modes_via_mavproxy_mode_command(self):
|
|
fnoo = [(1, 'ACRO'),
|
|
(3, 'STEERING'),
|
|
(4, 'HOLD'),
|
|
]
|
|
for (num, expected) in fnoo:
|
|
self.mavproxy.send('mode manual\n')
|
|
self.wait_mode("MANUAL")
|
|
self.mavproxy.send('mode %u\n' % num)
|
|
self.wait_mode(expected)
|
|
self.mavproxy.send('mode manual\n')
|
|
self.wait_mode("MANUAL")
|
|
self.mavproxy.send('mode %s\n' % expected)
|
|
self.wait_mode(expected)
|
|
|
|
def test_setting_modes_via_modeswitch(self):
|
|
# test setting of modes through mode switch
|
|
self.context_push()
|
|
ex = None
|
|
try:
|
|
self.set_parameter("MODE_CH", 8)
|
|
self.set_rc(8, 1000)
|
|
# mavutil.mavlink.ROVER_MODE_HOLD:
|
|
self.set_parameter("MODE6", 4)
|
|
# mavutil.mavlink.ROVER_MODE_ACRO
|
|
self.set_parameter("MODE5", 1)
|
|
self.set_rc(8, 1800) # PWM for mode6
|
|
self.wait_mode("HOLD")
|
|
self.set_rc(8, 1700) # PWM for mode5
|
|
self.wait_mode("ACRO")
|
|
self.set_rc(8, 1800) # PWM for mode6
|
|
self.wait_mode("HOLD")
|
|
self.set_rc(8, 1700) # PWM for mode5
|
|
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_auxswitches(self):
|
|
self.context_push()
|
|
ex = None
|
|
try:
|
|
self.set_parameter("MODE5", 1)
|
|
self.mavproxy.send('switch 1\n') # random mode
|
|
self.wait_heartbeat()
|
|
self.change_mode('MANUAL')
|
|
self.mavproxy.send('switch 5\n') # acro mode
|
|
self.wait_mode("ACRO")
|
|
self.set_rc(9, 1000)
|
|
self.set_rc(10, 1000)
|
|
self.set_parameter("RC9_OPTION", 53) # steering
|
|
self.set_parameter("RC10_OPTION", 54) # hold
|
|
self.set_rc(9, 1900)
|
|
self.wait_mode("STEERING")
|
|
self.set_rc(10, 1900)
|
|
self.wait_mode("HOLD")
|
|
|
|
# reset both switches - should go back to ACRO
|
|
self.set_rc(9, 1000)
|
|
self.set_rc(10, 1000)
|
|
self.wait_mode("ACRO")
|
|
|
|
self.set_rc(9, 1900)
|
|
self.wait_mode("STEERING")
|
|
self.set_rc(10, 1900)
|
|
self.wait_mode("HOLD")
|
|
|
|
self.set_rc(10, 1000) # this re-polls the mode switch
|
|
self.wait_mode("ACRO")
|
|
self.set_rc(9, 1000)
|
|
except Exception as e:
|
|
self.progress("Exception caught")
|
|
ex = e
|
|
|
|
self.context_pop()
|
|
|
|
if ex is not None:
|
|
raise ex
|
|
|
|
def test_rc_override_cancel(self):
|
|
self.change_mode('MANUAL')
|
|
self.wait_ready_to_arm()
|
|
self.zero_throttle()
|
|
self.arm_vehicle()
|
|
# start moving forward a little:
|
|
normal_rc_throttle = 1700
|
|
throttle_override = 1900
|
|
|
|
self.progress("Establishing baseline RC input")
|
|
self.mavproxy.send('rc 3 %u\n' % normal_rc_throttle)
|
|
tstart = self.get_sim_time_cached()
|
|
while True:
|
|
if self.get_sim_time_cached() - tstart > 10:
|
|
raise AutoTestTimeoutException("Did not get rc change")
|
|
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
|
|
if m.chan3_raw == normal_rc_throttle:
|
|
break
|
|
|
|
self.progress("Set override with RC_CHANNELS_OVERRIDE")
|
|
tstart = self.get_sim_time_cached()
|
|
while True:
|
|
if self.get_sim_time_cached() - tstart > 10:
|
|
raise AutoTestTimeoutException("Did not override")
|
|
self.progress("Sending throttle of %u" % (throttle_override,))
|
|
self.mav.mav.rc_channels_override_send(
|
|
1, # target system
|
|
1, # targe component
|
|
65535, # chan1_raw
|
|
65535, # chan2_raw
|
|
throttle_override, # chan3_raw
|
|
65535, # chan4_raw
|
|
65535, # chan5_raw
|
|
65535, # chan6_raw
|
|
65535, # chan7_raw
|
|
65535) # chan8_raw
|
|
|
|
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
|
|
self.progress("chan3=%f want=%f" % (m.chan3_raw, throttle_override))
|
|
if m.chan3_raw == throttle_override:
|
|
break
|
|
|
|
self.progress("disabling override and making sure we revert to RC input in good time")
|
|
tstart = self.get_sim_time_cached()
|
|
while True:
|
|
if self.get_sim_time_cached() - tstart > 0.5:
|
|
raise AutoTestTimeoutException("Did not cancel override")
|
|
self.progress("Sending cancel of throttle override")
|
|
self.mav.mav.rc_channels_override_send(
|
|
1, # target system
|
|
1, # targe component
|
|
65535, # chan1_raw
|
|
65535, # chan2_raw
|
|
0, # chan3_raw
|
|
65535, # chan4_raw
|
|
65535, # chan5_raw
|
|
65535, # chan6_raw
|
|
65535, # chan7_raw
|
|
65535) # chan8_raw
|
|
|
|
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
|
|
self.progress("chan3=%f want=%f" % (m.chan3_raw, normal_rc_throttle))
|
|
if m.chan3_raw == normal_rc_throttle:
|
|
break
|
|
|
|
def test_rc_overrides(self):
|
|
self.context_push()
|
|
ex = None
|
|
try:
|
|
self.set_parameter("RC12_OPTION", 46)
|
|
self.reboot_sitl()
|
|
|
|
self.mavproxy.send('switch 6\n') # Manual mode
|
|
self.wait_mode('MANUAL')
|
|
self.wait_ready_to_arm()
|
|
self.mavproxy.send('rc 3 1500\n') # throttle at zero
|
|
self.arm_vehicle()
|
|
# start moving forward a little:
|
|
normal_rc_throttle = 1700
|
|
self.mavproxy.send('rc 3 %u\n' % normal_rc_throttle)
|
|
self.wait_groundspeed(5, 100)
|
|
|
|
# allow overrides:
|
|
self.set_rc(12, 2000)
|
|
|
|
# now override to stop:
|
|
throttle_override = 1500
|
|
|
|
tstart = self.get_sim_time_cached()
|
|
while True:
|
|
if self.get_sim_time_cached() - tstart > 10:
|
|
raise AutoTestTimeoutException("Did not reach speed")
|
|
self.progress("Sending throttle of %u" % (throttle_override,))
|
|
self.mav.mav.rc_channels_override_send(
|
|
1, # target system
|
|
1, # targe component
|
|
65535, # chan1_raw
|
|
65535, # chan2_raw
|
|
throttle_override, # chan3_raw
|
|
65535, # chan4_raw
|
|
65535, # chan5_raw
|
|
65535, # chan6_raw
|
|
65535, # chan7_raw
|
|
65535) # chan8_raw
|
|
|
|
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
|
want_speed = 2.0
|
|
self.progress("Speed=%f want=<%f" % (m.groundspeed, want_speed))
|
|
if m.groundspeed < want_speed:
|
|
break
|
|
|
|
# now override to stop - but set the switch on the RC
|
|
# transmitter to deny overrides; this should send the
|
|
# speed back up to 5 metres/second:
|
|
self.set_rc(12, 1000)
|
|
|
|
throttle_override = 1500
|
|
tstart = self.get_sim_time_cached()
|
|
while True:
|
|
if self.get_sim_time_cached() - tstart > 10:
|
|
raise AutoTestTimeoutException("Did not stop")
|
|
print("Sending throttle of %u" % (throttle_override,))
|
|
self.mav.mav.rc_channels_override_send(
|
|
1, # target system
|
|
1, # targe component
|
|
65535, # chan1_raw
|
|
65535, # chan2_raw
|
|
throttle_override, # chan3_raw
|
|
65535, # chan4_raw
|
|
65535, # chan5_raw
|
|
65535, # chan6_raw
|
|
65535, # chan7_raw
|
|
65535) # chan8_raw
|
|
|
|
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
|
want_speed = 5.0
|
|
print("Speed=%f want=>%f" % (m.groundspeed, want_speed))
|
|
|
|
if m.groundspeed > want_speed:
|
|
break
|
|
|
|
# re-enable RC overrides
|
|
self.set_rc(12, 2000)
|
|
|
|
# check we revert to normal RC inputs when gcs overrides cease:
|
|
self.progress("Waiting for RC to revert to normal RC input")
|
|
while True:
|
|
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
|
|
print("%s" % m)
|
|
if m.chan3_raw == normal_rc_throttle:
|
|
break
|
|
|
|
except Exception as e:
|
|
self.progress("Exception caught")
|
|
ex = e
|
|
|
|
self.context_pop()
|
|
self.reboot_sitl()
|
|
|
|
if ex is not None:
|
|
raise ex
|
|
|
|
def test_camera_mission_items(self):
|
|
self.context_push()
|
|
ex = None
|
|
try:
|
|
self.load_mission("rover-camera-mission.txt")
|
|
self.wait_ready_to_arm()
|
|
self.change_mode("AUTO")
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle()
|
|
prev_cf = None
|
|
while True:
|
|
cf = self.mav.recv_match(type='CAMERA_FEEDBACK', blocking=True)
|
|
if prev_cf is None:
|
|
prev_cf = cf
|
|
continue
|
|
dist_travelled = self.get_distance_int(prev_cf, cf)
|
|
prev_cf = cf
|
|
mc = self.mav.messages.get("MISSION_CURRENT", None)
|
|
if mc is None:
|
|
continue
|
|
elif mc.seq == 2:
|
|
expected_distance = 2
|
|
elif mc.seq == 4:
|
|
expected_distance = 5
|
|
elif mc.seq == 5:
|
|
break
|
|
else:
|
|
continue
|
|
self.progress("Expected distance %f got %f" %
|
|
(expected_distance, dist_travelled))
|
|
error = abs(expected_distance - dist_travelled)
|
|
# Rover moves at ~5m/s; we appear to do something at
|
|
# 5Hz, so we do see over a meter of error!
|
|
max_error = 1.5
|
|
if error > max_error:
|
|
raise NotAchievedException("Camera distance error: %f (%f)" %
|
|
(error, max_error))
|
|
|
|
self.disarm_vehicle()
|
|
except Exception as e:
|
|
self.progress("Exception caught")
|
|
ex = e
|
|
self.context_pop()
|
|
if ex is not None:
|
|
raise ex
|
|
|
|
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 test_mavproxy_do_set_mode_via_command_long(self):
|
|
self.mavproxy_do_set_mode_via_command_long("HOLD")
|
|
self.mavproxy_do_set_mode_via_command_long("MANUAL")
|
|
|
|
def test_sysid_enforce(self):
|
|
'''Run the same arming code with correct then incorrect SYSID'''
|
|
self.context_push()
|
|
ex = None
|
|
try:
|
|
# if set_parameter is ever changed to not use MAVProxy
|
|
# this test is going to break horribly. Sorry.
|
|
self.set_parameter("SYSID_MYGCS", 255) # assume MAVProxy does this!
|
|
self.set_parameter("SYSID_ENFORCE", 1) # assume MAVProxy does this!
|
|
|
|
self.change_mode('MANUAL')
|
|
|
|
self.progress("make sure I can arm ATM")
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle(timeout=5)
|
|
self.disarm_vehicle()
|
|
|
|
# temporarily set a different system ID than MAVProxy:
|
|
self.progress("Attempting to arm vehicle myself")
|
|
old_srcSystem = self.mav.mav.srcSystem
|
|
try:
|
|
self.mav.mav.srcSystem = 243
|
|
self.arm_vehicle(timeout=5)
|
|
self.disarm_vehicle()
|
|
success = False
|
|
except AutoTestTimeoutException as e:
|
|
success = True
|
|
pass
|
|
self.mav.srcSystem = old_srcSystem
|
|
if not success:
|
|
raise NotAchievedException(
|
|
"Managed to arm with SYSID_ENFORCE set")
|
|
|
|
self.progress("Attempting to arm vehicle from vehicle component")
|
|
old_srcSystem = self.mav.mav.srcSystem
|
|
comp_arm_exception = None
|
|
try:
|
|
self.mav.mav.srcSystem = 1
|
|
self.arm_vehicle(timeout=5)
|
|
self.disarm_vehicle()
|
|
except Exception as e:
|
|
comp_arm_exception = e
|
|
pass
|
|
self.mav.srcSystem = old_srcSystem
|
|
if comp_arm_exception is not None:
|
|
raise comp_arm_exception
|
|
|
|
except Exception as e:
|
|
self.progress("Exception caught")
|
|
ex = e
|
|
self.context_pop()
|
|
if ex is not None:
|
|
raise ex
|
|
|
|
def test_rally_points(self):
|
|
self.load_rally("rover-test-rally.txt")
|
|
|
|
self.wait_ready_to_arm()
|
|
self.arm_vehicle()
|
|
self.reach_heading_manual(10)
|
|
self.reach_distance_manual(50)
|
|
|
|
self.change_mode("RTL")
|
|
# location copied in from rover-test-rally.txt:
|
|
loc = mavutil.location(40.071553,
|
|
-105.229401,
|
|
0,
|
|
0)
|
|
self.wait_location(loc)
|
|
self.disarm_vehicle()
|
|
|
|
def tests(self):
|
|
'''return list of all tests'''
|
|
ret = super(AutoTestRover, self).tests()
|
|
|
|
ret.extend([
|
|
("ArmFeatures", "Arm features", self.test_arm_feature),
|
|
|
|
("MAVProxy_SetModeUsingSwitch",
|
|
"Set modes via mavproxy switch",
|
|
self.test_setting_modes_via_mavproxy_switch),
|
|
|
|
("MAVProxy_SetModeUsingMode",
|
|
"Set modes via mavproxy mode command",
|
|
self.test_setting_modes_via_mavproxy_mode_command),
|
|
|
|
("ModeSwitch",
|
|
"Set modes via modeswitch",
|
|
self.test_setting_modes_via_modeswitch),
|
|
|
|
("AuxModeSwitch",
|
|
"Set modes via auxswitches",
|
|
self.test_setting_modes_via_auxswitches),
|
|
|
|
("DriveRTL",
|
|
"Drive an RTL Mission", self.drive_rtl_mission),
|
|
|
|
("DriveSquare",
|
|
"Learn/Drive Square with Ch7 option",
|
|
self.drive_square),
|
|
|
|
("DriveMission",
|
|
"Drive Mission %s" % "rover1.txt",
|
|
lambda: self.drive_mission("rover1.txt")),
|
|
|
|
# disabled due to frequent failures in travis. This test needs re-writing
|
|
# ("Drive Brake", self.drive_brake),
|
|
|
|
("GetBanner", "Get Banner", self.do_get_banner),
|
|
|
|
("GetCapabilities",
|
|
"Get Capabilities",
|
|
self.do_get_autopilot_capabilities),
|
|
|
|
("DO_SET_MODE",
|
|
"Set mode via MAV_COMMAND_DO_SET_MODE",
|
|
self.test_do_set_mode_via_command_long),
|
|
|
|
("MAVProxy_DO_SET_MODE",
|
|
"Set mode via MAV_COMMAND_DO_SET_MODE with MAVProxy",
|
|
self.test_mavproxy_do_set_mode_via_command_long),
|
|
|
|
("ServoRelayEvents",
|
|
"Test ServoRelayEvents",
|
|
self.test_servorelayevents),
|
|
|
|
("RCOverrides", "Test RC overrides", self.test_rc_overrides),
|
|
|
|
("RCOverridesCancel", "Test RC overrides Cancel", self.test_rc_override_cancel),
|
|
|
|
("Sprayer", "Test Sprayer", self.test_sprayer),
|
|
|
|
("AC_Avoidance",
|
|
"Test AC Avoidance switch",
|
|
self.drive_fence_ac_avoidance),
|
|
|
|
("CameraMission",
|
|
"Test Camera Mission Items",
|
|
self.test_camera_mission_items),
|
|
|
|
# Gripper test
|
|
("Gripper",
|
|
"Test gripper",
|
|
self.test_gripper),
|
|
|
|
("GripperMission",
|
|
"Test Gripper Mission Items",
|
|
self.test_gripper_mission),
|
|
|
|
("SET_MESSAGE_INTERVAL",
|
|
"Test MAV_CMD_SET_MESSAGE_INTERVAL",
|
|
self.test_set_message_interval),
|
|
|
|
("SYSID_ENFORCE",
|
|
"Test enforcement of SYSID_MYGCS",
|
|
self.test_sysid_enforce),
|
|
|
|
("Rally",
|
|
"Test Rally Points",
|
|
self.test_rally_points),
|
|
|
|
("DownLoadLogs", "Download logs", lambda:
|
|
self.log_download(
|
|
self.buildlogs_path("APMrover2-log.bin"),
|
|
upload_logs=len(self.fail_list) > 0)),
|
|
])
|
|
return ret
|
|
|
|
def rc_defaults(self):
|
|
ret = super(AutoTestRover, self).rc_defaults()
|
|
ret[3] = 1000
|
|
ret[8] = 1800
|
|
return ret;
|
|
|
|
def default_mode(self):
|
|
return 'MANUAL'
|