mirror of https://github.com/ArduPilot/ardupilot
541 lines
19 KiB
Python
541 lines
19 KiB
Python
'''
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Dive ArduSub in SITL
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AP_FLAKE8_CLEAN
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'''
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from __future__ import print_function
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import os
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import sys
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import time
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from pymavlink import mavutil
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import vehicle_test_suite
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from vehicle_test_suite import NotAchievedException
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from vehicle_test_suite import AutoTestTimeoutException
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if sys.version_info[0] < 3:
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ConnectionResetError = AutoTestTimeoutException
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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(33.810313, -118.393867, 0, 185)
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class Joystick():
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Pitch = 1
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Roll = 2
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Throttle = 3
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Yaw = 4
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Forward = 5
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Lateral = 6
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class AutoTestSub(vehicle_test_suite.TestSuite):
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@staticmethod
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def get_not_armable_mode_list():
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return []
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@staticmethod
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def get_not_disarmed_settable_modes_list():
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return []
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@staticmethod
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def get_no_position_not_settable_modes_list():
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return ["AUTO", "GUIDED", "CIRCLE", "POSHOLD"]
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@staticmethod
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def get_position_armable_modes_list():
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return []
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@staticmethod
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def get_normal_armable_modes_list():
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return ["ACRO", "ALT_HOLD", "MANUAL", "STABILIZE", "SURFACE"]
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def log_name(self):
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return "ArduSub"
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def default_speedup(self):
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'''Sub seems to be race-free'''
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return 100
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def test_filepath(self):
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return os.path.realpath(__file__)
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def set_current_test_name(self, name):
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self.current_test_name_directory = "ArduSub_Tests/" + name + "/"
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def default_mode(self):
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return 'MANUAL'
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def sitl_start_location(self):
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return SITL_START_LOCATION
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def default_frame(self):
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return 'vectored'
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def is_sub(self):
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return True
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def watch_altitude_maintained(self, delta=0.3, timeout=5.0):
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"""Watch and wait for the actual altitude to be maintained
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Keyword Arguments:
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delta {float} -- Maximum altitude range to be allowed from actual point (default: {0.5})
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timeout {float} -- Timeout time in simulation seconds (default: {5.0})
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Raises:
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NotAchievedException: Exception when altitude fails to hold inside the time and
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altitude range
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"""
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tstart = self.get_sim_time_cached()
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previous_altitude = self.mav.recv_match(type='VFR_HUD', blocking=True).alt
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self.progress('Altitude to be watched: %f' % (previous_altitude))
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while True:
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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if self.get_sim_time_cached() - tstart > timeout:
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self.progress('Altitude hold done: %f' % (previous_altitude))
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return
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if abs(m.alt - previous_altitude) > delta:
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raise NotAchievedException(
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"Altitude not maintained: want %.2f (+/- %.2f) got=%.2f" %
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(previous_altitude, delta, m.alt))
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def AltitudeHold(self):
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"""Test ALT_HOLD mode"""
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.change_mode('ALT_HOLD')
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msg = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=5)
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if msg is None:
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raise NotAchievedException("Did not get GLOBAL_POSITION_INT")
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pwm = 1300
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if msg.relative_alt/1000.0 < -6.0:
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# need to g`o up, not down!
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pwm = 1700
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self.set_rc(Joystick.Throttle, pwm)
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self.wait_altitude(altitude_min=-6, altitude_max=-5)
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self.set_rc(Joystick.Throttle, 1500)
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# let the vehicle settle (momentum / stopping point shenanigans....)
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self.delay_sim_time(1)
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self.watch_altitude_maintained()
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self.set_rc(Joystick.Throttle, 1000)
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self.wait_altitude(altitude_min=-20, altitude_max=-19)
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self.set_rc(Joystick.Throttle, 1500)
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# let the vehicle settle (momentum / stopping point shenanigans....)
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self.delay_sim_time(1)
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self.watch_altitude_maintained()
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self.set_rc(Joystick.Throttle, 1900)
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self.wait_altitude(altitude_min=-14, altitude_max=-13)
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self.set_rc(Joystick.Throttle, 1500)
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# let the vehicle settle (momentum / stopping point shenanigans....)
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self.delay_sim_time(1)
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self.watch_altitude_maintained()
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self.set_rc(Joystick.Throttle, 1900)
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self.wait_altitude(altitude_min=-5, altitude_max=-4)
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self.set_rc(Joystick.Throttle, 1500)
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# let the vehicle settle (momentum / stopping point shenanigans....)
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self.delay_sim_time(1)
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self.watch_altitude_maintained()
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# Make sure the code can handle buoyancy changes
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self.set_parameter("SIM_BUOYANCY", 10)
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self.watch_altitude_maintained()
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self.set_parameter("SIM_BUOYANCY", -10)
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self.watch_altitude_maintained()
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# Make sure that the ROV will dive with a small input down even if there is a 10N buoyancy force upwards
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self.set_parameter("SIM_BUOYANCY", 10)
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self.set_rc(Joystick.Throttle, 1350)
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self.wait_altitude(altitude_min=-6, altitude_max=-5.5)
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self.set_rc(Joystick.Throttle, 1500)
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self.watch_altitude_maintained()
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self.disarm_vehicle()
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def ModeChanges(self, delta=0.2):
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"""Check if alternating between ALTHOLD, STABILIZE and POSHOLD affects altitude"""
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self.wait_ready_to_arm()
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self.arm_vehicle()
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# zero buoyancy and no baro noise
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self.set_parameter("SIM_BUOYANCY", 0)
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self.set_parameter("SIM_BARO_RND", 0)
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# dive a bit to make sure we are not surfaced
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self.change_mode('STABILIZE')
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self.set_rc(Joystick.Throttle, 1350)
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self.delay_sim_time(10)
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self.set_rc(Joystick.Throttle, 1500)
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self.delay_sim_time(3)
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# start the test itself, go through some modes and check if anything changes
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previous_altitude = self.mav.recv_match(type='VFR_HUD', blocking=True).alt
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self.change_mode('ALT_HOLD')
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self.delay_sim_time(2)
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self.change_mode('POSHOLD')
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self.delay_sim_time(2)
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self.change_mode('STABILIZE')
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self.delay_sim_time(2)
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self.change_mode('ALT_HOLD')
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self.delay_sim_time(2)
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self.change_mode('STABILIZE')
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self.delay_sim_time(2)
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self.change_mode('ALT_HOLD')
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self.delay_sim_time(2)
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self.change_mode('MANUAL')
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self.disarm_vehicle()
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final_altitude = self.mav.recv_match(type='VFR_HUD', blocking=True).alt
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if abs(previous_altitude - final_altitude) > delta:
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raise NotAchievedException(
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"Changing modes affected depth with no throttle input!, started at {}, ended at {}"
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.format(previous_altitude, final_altitude)
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)
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def PositionHold(self):
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"""Test POSHOLD mode"""
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self.wait_ready_to_arm()
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self.arm_vehicle()
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# point North
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self.reach_heading_manual(0)
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self.change_mode('POSHOLD')
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# dive a little
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self.set_rc(Joystick.Throttle, 1300)
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self.delay_sim_time(3)
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self.set_rc(Joystick.Throttle, 1500)
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self.delay_sim_time(2)
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# Save starting point
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msg = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=5)
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if msg is None:
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raise NotAchievedException("Did not get GLOBAL_POSITION_INT")
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start_pos = self.mav.location()
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# Hold in perfect conditions
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self.progress("Testing position hold in perfect conditions")
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self.delay_sim_time(10)
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distance_m = self.get_distance(start_pos, self.mav.location())
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if distance_m > 1:
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raise NotAchievedException("Position Hold was unable to keep position in calm waters within 1 meter after 10 seconds, drifted {} meters".format(distance_m)) # noqa
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# Hold in 1 m/s current
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self.progress("Testing position hold in current")
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self.set_parameter("SIM_WIND_SPD", 1)
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self.set_parameter("SIM_WIND_T", 1)
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self.delay_sim_time(10)
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distance_m = self.get_distance(start_pos, self.mav.location())
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if distance_m > 1:
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raise NotAchievedException("Position Hold was unable to keep position in 1m/s current within 1 meter after 10 seconds, drifted {} meters".format(distance_m)) # noqa
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# Move forward slowly in 1 m/s current
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start_pos = self.mav.location()
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self.progress("Testing moving forward in position hold in 1m/s current")
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self.set_rc(Joystick.Forward, 1600)
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self.delay_sim_time(10)
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distance_m = self.get_distance(start_pos, self.mav.location())
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bearing = self.get_bearing(start_pos, self.mav.location())
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if distance_m < 2 or (bearing > 30 and bearing < 330):
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raise NotAchievedException("Position Hold was unable to move north 2 meters, moved {} at {} degrees instead".format(distance_m, bearing)) # noqa
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self.disarm_vehicle()
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def MotorThrustHoverParameterIgnore(self):
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"""Test if we are ignoring MOT_THST_HOVER parameter"""
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# Test default parameter value
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mot_thst_hover_value = self.get_parameter("MOT_THST_HOVER")
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if mot_thst_hover_value != 0.5:
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raise NotAchievedException("Unexpected default MOT_THST_HOVER parameter value {}".format(mot_thst_hover_value))
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# Test if parameter is being ignored
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for value in [0.25, 0.75]:
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self.set_parameter("MOT_THST_HOVER", value)
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self.AltitudeHold()
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def DiveManual(self):
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'''Dive manual'''
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.set_rc(Joystick.Throttle, 1600)
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self.set_rc(Joystick.Forward, 1600)
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self.set_rc(Joystick.Lateral, 1550)
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self.wait_distance(50, accuracy=7, timeout=200)
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self.set_rc(Joystick.Yaw, 1550)
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self.wait_heading(0)
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self.set_rc(Joystick.Yaw, 1500)
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self.wait_distance(50, accuracy=7, timeout=100)
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self.set_rc(Joystick.Yaw, 1550)
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self.wait_heading(0)
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self.set_rc(Joystick.Yaw, 1500)
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self.set_rc(Joystick.Forward, 1500)
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self.set_rc(Joystick.Lateral, 1100)
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self.wait_distance(75, accuracy=7, timeout=100)
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self.set_rc_default()
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self.disarm_vehicle()
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self.progress("Manual dive OK")
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m = self.assert_receive_message('SCALED_PRESSURE3')
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# Note this temperature matches the output of the Atmospheric Model for Air currently
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# And should be within 1 deg C of 40 degC
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if (m.temperature < 3900) or (4100 < m.temperature):
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raise NotAchievedException("Did not get correct TSYS01 temperature: Got %f" % m.temperature)
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def DiveMission(self):
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'''Dive mission'''
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filename = "sub_mission.txt"
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self.progress("Executing mission %s" % filename)
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self.load_mission(filename)
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self.set_rc_default()
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self.arm_vehicle()
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self.change_mode('AUTO')
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self.wait_waypoint(1, 5, max_dist=5)
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self.disarm_vehicle()
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self.progress("Mission OK")
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def GripperMission(self):
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'''Test gripper mission items'''
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self.load_mission("sub-gripper-mission.txt")
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self.change_mode('GUIDED')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.change_mode('AUTO')
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self.wait_statustext("Gripper Grabbed", timeout=60)
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self.wait_statustext("Gripper Released", timeout=60)
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self.disarm_vehicle()
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def SET_POSITION_TARGET_GLOBAL_INT(self):
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'''Move vehicle using SET_POSITION_TARGET_GLOBAL_INT'''
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self.change_mode('GUIDED')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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startpos = self.mav.recv_match(type='GLOBAL_POSITION_INT',
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blocking=True)
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lat = 5
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lon = 5
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alt = -10
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# send a position-control command
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self.mav.mav.set_position_target_global_int_send(
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0, # timestamp
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1, # target system_id
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1, # target component id
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mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
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0b1111111111111000, # mask specifying use-only-lat-lon-alt
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lat, # lat
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lon, # lon
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alt, # alt
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0, # vx
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0, # vy
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0, # vz
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0, # afx
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0, # afy
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0, # afz
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0, # yaw
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0, # yawrate
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)
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tstart = self.get_sim_time()
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while True:
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if self.get_sim_time_cached() - tstart > 200:
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raise NotAchievedException("Did not move far enough")
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pos = self.mav.recv_match(type='GLOBAL_POSITION_INT',
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blocking=True)
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delta = self.get_distance_int(startpos, pos)
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self.progress("delta=%f (want >10)" % delta)
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if delta > 10:
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break
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self.change_mode('MANUAL')
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self.disarm_vehicle()
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def reboot_sitl(self):
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"""Reboot SITL instance and wait it to reconnect."""
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# our battery is reset to full on reboot. So reduce it to 10%
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# and wait for it to go above 50.
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self.run_cmd(
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mavutil.mavlink.MAV_CMD_BATTERY_RESET,
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p1=65535, # battery mask
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p2=10, # percentage
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)
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self.run_cmd_reboot()
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tstart = time.time()
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while True:
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if time.time() - tstart > 30:
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raise NotAchievedException("Did not detect reboot")
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# ask for the message:
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batt = None
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try:
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self.send_cmd(
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mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE,
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p1=mavutil.mavlink.MAVLINK_MSG_ID_BATTERY_STATUS,
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)
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batt = self.mav.recv_match(type='BATTERY_STATUS',
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blocking=True,
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timeout=1)
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except ConnectionResetError:
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pass
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self.progress("Battery: %s" % str(batt))
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if batt is None:
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continue
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if batt.battery_remaining > 50:
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break
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self.initialise_after_reboot_sitl()
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def DoubleCircle(self):
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'''Test entering circle twice'''
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self.change_mode('CIRCLE')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.change_mode('STABILIZE')
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self.change_mode('CIRCLE')
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self.disarm_vehicle()
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def default_parameter_list(self):
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ret = super(AutoTestSub, self).default_parameter_list()
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ret["FS_GCS_ENABLE"] = 0 # FIXME
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return ret
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def disabled_tests(self):
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ret = super(AutoTestSub, self).disabled_tests()
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ret.update({
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"ConfigErrorLoop": "Sub does not instantiate AP_Stats. Also see https://github.com/ArduPilot/ardupilot/issues/10247", # noqa
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})
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return ret
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def MAV_CMD_NAV_LOITER_UNLIM(self):
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'''test handling of MAV_CMD_NAV_LOITER_UNLIM received via mavlink'''
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for cmd in self.run_cmd, self.run_cmd_int:
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self.change_mode('CIRCLE')
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cmd(mavutil.mavlink.MAV_CMD_NAV_LOITER_UNLIM)
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self.assert_mode('POSHOLD')
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def MAV_CMD_NAV_LAND(self):
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'''test handling of MAV_CMD_NAV_LAND received via mavlink'''
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for cmd in self.run_cmd, self.run_cmd_int:
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self.change_mode('CIRCLE')
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cmd(mavutil.mavlink.MAV_CMD_NAV_LAND)
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self.assert_mode('SURFACE')
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def MAV_CMD_MISSION_START(self):
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'''test handling of MAV_CMD_NAV_LAND received via mavlink'''
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self.upload_simple_relhome_mission([
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(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, 0),
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(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
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])
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self.wait_ready_to_arm()
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self.arm_vehicle()
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for cmd in self.run_cmd, self.run_cmd_int:
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self.change_mode('CIRCLE')
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cmd(mavutil.mavlink.MAV_CMD_MISSION_START)
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self.assert_mode('AUTO')
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self.disarm_vehicle()
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def MAV_CMD_DO_CHANGE_SPEED(self):
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'''ensure vehicle changes speeds when DO_CHANGE_SPEED received'''
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items = [
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(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, -3), # Dive so we have constrat drag
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(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, -1),
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(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
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]
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self.upload_simple_relhome_mission(items)
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.run_cmd(mavutil.mavlink.MAV_CMD_MISSION_START)
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self.progress("SENT MISSION START")
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self.wait_mode('AUTO')
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self.wait_current_waypoint(2) # wait after we finish diving to 3m
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for run_cmd in self.run_cmd, self.run_cmd_int:
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for speed in [1, 1.5, 0.5]:
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|
run_cmd(mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, p2=speed)
|
|
self.wait_groundspeed(speed-0.2, speed+0.2, minimum_duration=2, timeout=60)
|
|
self.disarm_vehicle()
|
|
|
|
def _MAV_CMD_CONDITION_YAW(self, run_cmd):
|
|
self.arm_vehicle()
|
|
self.change_mode('GUIDED')
|
|
for angle in 5, 30, 60, 10:
|
|
angular_rate = 10
|
|
direction = 1
|
|
relative_or_absolute = 0
|
|
run_cmd(
|
|
mavutil.mavlink.MAV_CMD_CONDITION_YAW,
|
|
p1=angle,
|
|
p2=angular_rate,
|
|
p3=direction,
|
|
p4=relative_or_absolute, # 1 for relative, 0 for absolute
|
|
)
|
|
self.wait_heading(angle, minimum_duration=2)
|
|
|
|
self.start_subtest('Relative angle')
|
|
run_cmd(
|
|
mavutil.mavlink.MAV_CMD_CONDITION_YAW,
|
|
p1=0,
|
|
p2=10,
|
|
p3=1,
|
|
p4=0, # 1 for relative, 0 for absolute
|
|
)
|
|
self.wait_heading(0, minimum_duration=2)
|
|
run_cmd(
|
|
mavutil.mavlink.MAV_CMD_CONDITION_YAW,
|
|
p1=20,
|
|
p2=10,
|
|
p3=1,
|
|
p4=1, # 1 for relative, 0 for absolute
|
|
)
|
|
self.wait_heading(20, minimum_duration=2)
|
|
|
|
self.disarm_vehicle()
|
|
|
|
def MAV_CMD_CONDITION_YAW(self):
|
|
'''ensure vehicle yaws according to GCS command'''
|
|
self._MAV_CMD_CONDITION_YAW(self.run_cmd)
|
|
self._MAV_CMD_CONDITION_YAW(self.run_cmd_int)
|
|
|
|
def tests(self):
|
|
'''return list of all tests'''
|
|
ret = super(AutoTestSub, self).tests()
|
|
|
|
ret.extend([
|
|
self.DiveManual,
|
|
self.AltitudeHold,
|
|
self.PositionHold,
|
|
self.ModeChanges,
|
|
self.DiveMission,
|
|
self.GripperMission,
|
|
self.DoubleCircle,
|
|
self.MotorThrustHoverParameterIgnore,
|
|
self.SET_POSITION_TARGET_GLOBAL_INT,
|
|
self.TestLogDownloadMAVProxy,
|
|
self.MAV_CMD_NAV_LOITER_UNLIM,
|
|
self.MAV_CMD_NAV_LAND,
|
|
self.MAV_CMD_MISSION_START,
|
|
self.MAV_CMD_DO_CHANGE_SPEED,
|
|
self.MAV_CMD_CONDITION_YAW,
|
|
])
|
|
|
|
return ret
|