mirror of https://github.com/ArduPilot/ardupilot
365 lines
11 KiB
Python
365 lines
11 KiB
Python
# fly ArduCopter in SIL
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import util, pexpect, sys, time, math, shutil, os
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from common import *
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# get location of scripts
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testdir=os.path.dirname(os.path.realpath(__file__))
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sys.path.insert(0, util.reltopdir('../pymavlink'))
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import mavutil, mavwp
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HOME=location(-35.362938,149.165085,584,270)
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homeloc = None
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num_wp = 0
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def arm_motors(mavproxy, mav):
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'''arm motors'''
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print("Arming motors")
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mavproxy.send('switch 6\n') # stabilize mode
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wait_mode(mav, 'STABILIZE')
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mavproxy.send('rc 3 1000\n')
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mavproxy.send('rc 4 2000\n')
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mavproxy.expect('APM: ARMING MOTORS')
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mavproxy.send('rc 4 1500\n')
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print("MOTORS ARMED OK")
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return True
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def disarm_motors(mavproxy, mav):
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'''disarm motors'''
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print("Disarming motors")
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mavproxy.send('switch 6\n') # stabilize mode
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mavproxy.send('rc 3 1000\n')
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mavproxy.send('rc 4 1000\n')
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mavproxy.expect('APM: DISARMING MOTORS')
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mavproxy.send('rc 4 1500\n')
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print("MOTORS DISARMED OK")
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return True
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def takeoff(mavproxy, mav):
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'''takeoff get to 30m altitude'''
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mavproxy.send('switch 6\n') # stabilize mode
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wait_mode(mav, 'STABILIZE')
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mavproxy.send('rc 3 1500\n')
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wait_altitude(mav, 30, 40)
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print("TAKEOFF COMPLETE")
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return True
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def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
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'''hold loiter position'''
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mavproxy.send('switch 5\n') # loiter mode
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wait_mode(mav, 'LOITER')
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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start_altitude = m.alt
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tstart = time.time()
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tholdstart = time.time()
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print("Holding loiter at %u meters for %u seconds" % (start_altitude, holdtime))
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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print("Altitude %u" % m.alt)
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if math.fabs(m.alt - start_altitude) > maxaltchange:
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tholdstart = time.time()
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if time.time() - tholdstart > holdtime:
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print("Loiter OK for %u seconds" % holdtime)
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return True
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print("Loiter FAILED")
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return False
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def fly_square(mavproxy, mav, side=50, timeout=120):
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'''fly a square, flying N then E'''
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mavproxy.send('switch 6\n')
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wait_mode(mav, 'STABILIZE')
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tstart = time.time()
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failed = False
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print("Save WP 1")
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save_wp(mavproxy, mav)
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print("turn")
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mavproxy.send('rc 3 1430\n')
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mavproxy.send('rc 4 1610\n')
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if not wait_heading(mav, 0):
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return False
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mavproxy.send('rc 4 1500\n')
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print("Going north %u meters" % side)
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mavproxy.send('rc 2 1390\n')
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if not wait_distance(mav, side):
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failed = True
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mavproxy.send('rc 2 1500\n')
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print("Save WP 2")
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save_wp(mavproxy, mav)
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print("Going east %u meters" % side)
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mavproxy.send('rc 1 1610\n')
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if not wait_distance(mav, side):
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failed = True
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mavproxy.send('rc 1 1500\n')
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print("Save WP 3")
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save_wp(mavproxy, mav)
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print("Going south %u meters" % side)
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mavproxy.send('rc 2 1610\n')
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if not wait_distance(mav, side):
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failed = True
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mavproxy.send('rc 2 1500\n')
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mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==1000', blocking=True)
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print("Save WP 4")
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save_wp(mavproxy, mav)
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print("Going west %u meters" % side)
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mavproxy.send('rc 1 1390\n')
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if not wait_distance(mav, side):
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failed = True
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mavproxy.send('rc 1 1500\n')
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print("Save WP 5")
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save_wp(mavproxy, mav)
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return not failed
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def land(mavproxy, mav, timeout=60):
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'''land the quad'''
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print("STARTING LANDING")
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mavproxy.send('switch 6\n')
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wait_mode(mav, 'STABILIZE')
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# start by dropping throttle till we have lost 5m
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mavproxy.send('rc 3 1380\n')
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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wait_altitude(mav, 0, m.alt-5)
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# now let it settle gently
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mavproxy.send('rc 3 1400\n')
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tstart = time.time()
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ret = wait_altitude(mav, -5, 0)
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print("LANDING: ok=%s" % ret)
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return ret
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def circle(mavproxy, mav, maxaltchange=10, holdtime=90, timeout=35):
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'''fly circle'''
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print("FLY CIRCLE")
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mavproxy.send('switch 1\n') # CIRCLE mode
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wait_mode(mav, 'CIRCLE')
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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start_altitude = m.alt
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tstart = time.time()
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tholdstart = time.time()
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print("Circle at %u meters for %u seconds" % (start_altitude, holdtime))
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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print("heading %u" % m.heading)
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print("CIRCLE OK for %u seconds" % holdtime)
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return True
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def fly_mission(mavproxy, mav, height_accuracy=-1, target_altitude=None):
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'''fly a mission from a file'''
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global homeloc
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global num_wp
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print("test: Fly a mission from 0 to %u" % num_wp)
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mavproxy.send('wp set 0\n')
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mavproxy.send('switch 4\n') # auto mode
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wait_mode(mav, 'AUTO')
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#wait_altitude(mav, 30, 40)
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ret = wait_waypoint(mav, 0, num_wp, timeout=500)
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print("test: MISSION COMPLETE: passed=%s" % ret)
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# wait here until ready
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mavproxy.send('switch 5\n')
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wait_mode(mav, 'LOITER')
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return ret
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#if not wait_distance(mav, 30, timeout=120):
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# return False
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#if not wait_location(mav, homeloc, timeout=600, target_altitude=target_altitude, height_accuracy=height_accuracy):
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# return False
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def load_mission_from_file(mavproxy, mav, filename):
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'''load a mission from a file'''
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global num_wp
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wploader = mavwp.MAVWPLoader()
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wploader.load(filename)
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num_wp = wploader.count()
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print("loaded mission with %u waypoints" % num_wp)
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return True
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def upload_mission_from_file(mavproxy, mav, filename):
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'''Upload a mission from a file to APM'''
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global num_wp
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mavproxy.send('wp load %s\n' % filename)
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mavproxy.expect('flight plan received')
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mavproxy.send('wp list\n')
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mavproxy.expect('Requesting [0-9]+ waypoints')
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return True
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def save_mission_to_file(mavproxy, mav, filename):
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global num_wp
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mavproxy.send('wp save %s\n' % filename)
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mavproxy.expect('Saved ([0-9]+) waypoints')
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num_wp = int(mavproxy.match.group(1))
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print("num_wp: %d" % num_wp)
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return True
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def setup_rc(mavproxy):
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'''setup RC override control'''
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for chan in range(1,9):
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mavproxy.send('rc %u 1500\n' % chan)
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# zero throttle
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mavproxy.send('rc 3 1000\n')
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def fly_ArduCopter(viewerip=None):
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'''fly ArduCopter in SIL
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you can pass viewerip as an IP address to optionally send fg and
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mavproxy packets too for local viewing of the flight in real time
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'''
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global expect_list, homeloc
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hquad_cmd = util.reltopdir('../HILTest/hil_quad.py') + ' --fgrate=200 --home=%f,%f,%u,%u' % (
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HOME.lat, HOME.lng, HOME.alt, HOME.heading)
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if viewerip:
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hquad_cmd += ' --fgout=192.168.2.15:9123'
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sil = util.start_SIL('ArduCopter', wipe=True)
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mavproxy = util.start_MAVProxy_SIL('ArduCopter')
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mavproxy.expect('Please Run Setup')
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# we need to restart it after eeprom erase
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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sil = util.start_SIL('ArduCopter')
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mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
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mavproxy.expect('Received [0-9]+ parameters')
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# setup test parameters
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mavproxy.send("param load %s/ArduCopter.parm\n" % testdir)
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mavproxy.expect('Loaded [0-9]+ parameters')
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# reboot with new parameters
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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sil = util.start_SIL('ArduCopter', height=HOME.alt)
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hquad = pexpect.spawn(hquad_cmd, logfile=sys.stdout, timeout=10)
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util.pexpect_autoclose(hquad)
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options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=1'
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if viewerip:
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options += ' --out=%s:14550' % viewerip
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mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
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mavproxy.expect('Logging to (\S+)')
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logfile = mavproxy.match.group(1)
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print("LOGFILE %s" % logfile)
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buildlog = util.reltopdir("../buildlogs/ArduCopter-test.mavlog")
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print("buildlog=%s" % buildlog)
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if os.path.exists(buildlog):
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os.unlink(buildlog)
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os.link(logfile, buildlog)
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mavproxy.expect('Received [0-9]+ parameters')
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mavproxy.expect("Ready to FLY")
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util.expect_setup_callback(mavproxy, expect_callback)
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expect_list.extend([hquad, sil, mavproxy])
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# get a mavlink connection going
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try:
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mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
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except Exception, msg:
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print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
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raise
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mav.message_hooks.append(message_hook)
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failed = False
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e = 'None'
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try:
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mav.wait_heartbeat()
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mav.recv_match(type='GPS_RAW', blocking=True)
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setup_rc(mavproxy)
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homeloc = current_location(mav)
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if not arm_motors(mavproxy, mav):
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failed = True
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if not takeoff(mavproxy, mav):
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failed = True
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print("# Fly A square")
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if not fly_square(mavproxy, mav):
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failed = True
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# save the stored mission
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print("# Save out the C7 mission")
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if not save_mission_to_file(mavproxy, mav, os.path.join(testdir, "ch7_mission.txt")):
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failed = True
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# Loiter for 10 seconds
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print("# Loiter for 10 seconds")
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if not loiter(mavproxy, mav):
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failed = True
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#Fly a circle for 60 seconds
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print("# Fly a Circle")
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if not circle(mavproxy, mav):
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failed = True
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# save the stored mission
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print("# Fly CH 7 saved mission")
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if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
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failed = True
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print("# Upload mission1")
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if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission2.txt")):
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failed = True
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# this grabs our mission count
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print("# store mission1 locally")
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if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission2.txt")):
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failed = True
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print("# Fly mission 2")
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if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
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failed = True
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else:
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print("Flew mission2 OK")
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print("# Land")
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if not land(mavproxy, mav):
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failed = True
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print("# disarm motors")
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if not disarm_motors(mavproxy, mav):
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failed = True
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except pexpect.TIMEOUT, e:
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failed = True
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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util.pexpect_close(hquad)
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if os.path.exists('ArduCopter-valgrind.log'):
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os.chmod('ArduCopter-valgrind.log', 0644)
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shutil.copy("ArduCopter-valgrind.log", util.reltopdir("../buildlogs/ArduCopter-valgrind.log"))
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if failed:
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print("FAILED: %s" % e)
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return False
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return True
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