63 lines
2.0 KiB
Python
63 lines
2.0 KiB
Python
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import arducopter
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import util, pexpect, sys, time, math, shutil, os
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from common import *
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import mavutil, mavwp, random
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def unit_test(mavproxy, mav):
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'''A scripted flight plan for testing AP_Limits'''
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time.sleep(5)
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print "# Setting AP_Limits parameters"
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mavproxy.send('param set LIM_ENABLED 1\n')
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mavproxy.send('param set LIM_REQUIRED 0\n')
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mavproxy.send('param set LIM_DEBUG 1\n')
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mavproxy.send('param set LIM_SAFETIME 1\n')
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mavproxy.send('param set LIM_ALT_ON 1\n')
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mavproxy.send('param set LIM_ALT_REQ 0\n')
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mavproxy.send('param set LIM_ALT_MIN 0\n')
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mavproxy.send('param set LIM_ALT_MAX 50\n')
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mavproxy.send('param set LIM_FNC_ON 0\n')
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mavproxy.send('param set LIM_FNC_REQ 0\n')
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mavproxy.send('param set LIM_FNC_SMPL 1\n')
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mavproxy.send('param set LIM_FNC_RAD 50\n')
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time.sleep(5)
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print "# Listing AP_Limits parameters"
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mavproxy.send('param show LIM*\n')
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if (
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arducopter.calibrate_level(mavproxy, mav) and
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arducopter.arm_motors(mavproxy, mav) and
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arducopter.takeoff(mavproxy,mav, alt_min=30, takeoff_throttle=1510) and
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arducopter.hover(mavproxy, mav, hover_throttle=1500)
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):
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# Trigger for ALT_MAX
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climb_rate = 0
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previous_alt = 0
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timeout = 30
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# Do Not Exceed altitude
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alt_dne = 55
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tstart = time.time()
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mavproxy.send('rc 3 1550\n')
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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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climb_rate = m.alt - previous_alt
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previous_alt = m.alt
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print("Trigger Altitude Limit: Cur:%u, climb_rate: %u" % (m.alt, climb_rate))
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if abs(climb_rate) > 0:
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tstart = time.time();
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if (mav.recv_match(condition='MAV.flightmode=="GUIDED"', blocking=False) != None):
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print "Triggered!"
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return True
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if m.alt >= alt_dne :
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print("Altitude Exceeded")
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return False
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return False
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return False
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