mirror of https://github.com/ArduPilot/ardupilot
91 lines
2.4 KiB
Python
91 lines
2.4 KiB
Python
#!/usr/bin/env python
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# Drive balancebot in SITL
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from __future__ import print_function
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import os
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from apmrover2 import AutoTestRover
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from common import AutoTest
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# get location of scripts
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testdir = os.path.dirname(os.path.realpath(__file__))
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def log_name(self):
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return "BalanceBot"
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class AutoTestBalanceBot(AutoTestRover):
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def vehicleinfo_key(self):
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return "APMrover2"
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def init(self):
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if self.frame is None:
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self.frame = 'balancebot'
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super(AutoTestBalanceBot, self).init()
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def test_do_set_mode_via_command_long(self):
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self.do_set_mode_via_command_long("HOLD")
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self.do_set_mode_via_command_long("MANUAL")
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def rc_defaults(self):
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ret = super(AutoTestBalanceBot, self).rc_defaults()
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ret[3] = 1500
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return ret
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def is_balancebot(self):
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return True
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def drive_rtl_mission_max_distance_from_home(self):
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'''maximum distance allowed from home at end'''
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'''balancebot tends to wander backwards, away from the target'''
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return 8
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def drive_rtl_mission(self):
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# if we Hold then the balancebot continues to wander
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# indefinitely at ~1m/s
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self.set_parameter("MIS_DONE_BEHAVE", 1)
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super(AutoTestBalanceBot, self).drive_rtl_mission()
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def tests(self):
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'''return list of all tests'''
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'''note that while AutoTestBalanceBot inherits from Rover we don't
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inherit Rover's tests!'''
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ret = AutoTest.tests(self)
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ret.extend([
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("DriveRTL",
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"Drive an RTL Mission",
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self.drive_rtl_mission),
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("DriveMission",
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"Drive Mission %s" % "balancebot1.txt",
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lambda: self.drive_mission("balancebot1.txt")),
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("GetBanner", "Get Banner", self.do_get_banner),
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("GetCapabilities",
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"Get Capabilities",
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self.do_get_autopilot_capabilities),
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("DO_SET_MODE",
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"Set mode via MAV_COMMAND_DO_SET_MODE",
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self.test_do_set_mode_via_command_long),
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("ServoRelayEvents",
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"Test ServoRelayEvents",
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self.test_servorelayevents),
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("DownLoadLogs", "Download logs", lambda:
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self.log_download(
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self.buildlogs_path("APMrover2-log.bin"),
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upload_logs=len(self.fail_list) > 0)),
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])
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return ret
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def default_mode(self):
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return 'MANUAL'
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