mirror of https://github.com/ArduPilot/ardupilot
132 lines
4.2 KiB
Python
132 lines
4.2 KiB
Python
# fly ArduPlane QuadPlane in SITL
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import util, pexpect, sys, time, math, shutil, os
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from common import *
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from pymavlink import mavutil
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import random
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# get location of scripts
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testdir=os.path.dirname(os.path.realpath(__file__))
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HOME_LOCATION='-27.274439,151.290064,343,8.7'
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MISSION='ArduPlane-Missions/Dalby-OBC2016.txt'
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FENCE='ArduPlane-Missions/Dalby-OBC2016-fence.txt'
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WIND="0,180,0.2" # speed,direction,variance
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homeloc = None
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def fly_mission(mavproxy, mav, filename, fence, height_accuracy=-1):
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'''fly a mission from a file'''
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print("Flying mission %s" % filename)
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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('fence load %s\n' % fence)
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mavproxy.send('wp list\n')
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mavproxy.expect('Requesting [0-9]+ waypoints')
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mavproxy.send('mode AUTO\n')
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wait_mode(mav, 'AUTO')
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if not wait_waypoint(mav, 1, 19, max_dist=60, timeout=1200):
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return False
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mavproxy.expect('DISARMED')
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# wait for blood sample here
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mavproxy.send('wp set 20\n')
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mavproxy.send('arm throttle\n')
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mavproxy.expect('ARMED')
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if not wait_waypoint(mav, 20, 34, max_dist=60, timeout=1200):
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return False
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mavproxy.expect('DISARMED')
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print("Mission OK")
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return True
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def fly_QuadPlane(binary, viewerip=None, map=False, valgrind=False, gdb=False):
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'''fly QuadPlane 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 homeloc
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options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
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if viewerip:
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options += " --out=%s:14550" % viewerip
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if map:
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options += ' --map'
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sil = util.start_SIL(binary, model='quadplane', wipe=True, home=HOME_LOCATION, speedup=10,
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defaults_file=os.path.join(testdir, 'quadplane.parm'), valgrind=valgrind, gdb=gdb)
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mavproxy = util.start_MAVProxy_SIL('QuadPlane', options=options)
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mavproxy.expect('Telemetry log: (\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/QuadPlane-test.tlog")
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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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try:
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os.link(logfile, buildlog)
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except Exception:
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pass
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util.expect_setup_callback(mavproxy, expect_callback)
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mavproxy.expect('Received [0-9]+ parameters')
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expect_list_clear()
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expect_list_extend([sil, mavproxy])
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print("Started simulator")
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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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mav.idle_hooks.append(idle_hook)
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failed = False
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e = 'None'
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try:
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print("Waiting for a heartbeat with mavlink protocol %s" % mav.WIRE_PROTOCOL_VERSION)
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mav.wait_heartbeat()
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print("Waiting for GPS fix")
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mav.recv_match(condition='VFR_HUD.alt>10', blocking=True)
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mav.wait_gps_fix()
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while mav.location().alt < 10:
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mav.wait_gps_fix()
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homeloc = mav.location()
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print("Home location: %s" % homeloc)
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# wait for EKF and GPS checks to pass
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wait_seconds(mav, 30)
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mavproxy.send('arm throttle\n')
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mavproxy.expect('ARMED')
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if not fly_mission(mavproxy, mav,
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os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt"),
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os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016-fence.txt")):
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print("Failed mission")
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failed = True
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except pexpect.TIMEOUT, e:
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print("Failed with timeout")
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failed = True
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mav.close()
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util.pexpect_close(mavproxy)
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util.pexpect_close(sil)
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valgrind_log = sil.valgrind_log_filepath()
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if os.path.exists(valgrind_log):
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os.chmod(valgrind_log, 0644)
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shutil.copy(valgrind_log, util.reltopdir("../buildlogs/QuadPlane-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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