aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

First version of APM autotest

Browse Source 
This does SIL testing of ArduPlane and ArduCopter. For now it just does
a basic LOITER test of ArduCopter. It produces logs and a kml of the
flight on apm.tridgell.net
This commit is contained in:
Andrew Tridgell 2011-10-31 13:50:34 +11:00
parent 44183eebc5
commit 0b484afbbe
5 changed files with 314 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
Tools/autotest/ArduCopter.parm Normal file
View File

@ -0,0 +1,30 @@
RC1_MAX 2000.000000
RC1_MIN 1000.000000
RC1_TRIM 1500.000000
RC2_MAX 2000.000000
RC2_MIN 1000.000000
RC2_TRIM 1500.000000
RC3_MAX 2000.000000
RC3_MIN 1000.000000
RC3_TRIM 1500.000000
RC4_MAX 2000.000000
RC4_MIN 1000.000000
RC4_TRIM 1500.000000
RC5_MAX 2000.000000
RC5_MIN 1000.000000
RC5_TRIM 1500.000000
RC6_MAX 2000.000000
RC6_MIN 1000.000000
RC6_TRIM 1500.000000
RC7_MAX 2000.000000
RC7_MIN 1000.000000
RC7_TRIM 1500.000000
RC8_MAX 2000.000000
RC8_MIN 1000.000000
RC8_TRIM 1500.000000
FLTMODE1 3
FLTMODE2 1
FLTMODE3 2
FLTMODE4 6
FLTMODE5 5
FLTMODE6 0

1
Tools/autotest/README Normal file
View File

@ -0,0 +1 @@
This is an automated test suite for APM

143
Tools/autotest/arducopter.py Normal file
View File

@ -0,0 +1,143 @@
# fly ArduCopter in SIL
import util, pexpect, sys, time, math, shutil
sys.path.insert(0, 'pymavlink')
import mavutil
HOME_LOCATION='-35.362938,149.165085,650,270'
def arm_motors(mavproxy):
'''arm motors'''
mavproxy.send('switch 6\n') # stabilize mode
mavproxy.expect('STABILIZE>')
mavproxy.send('rc 3 1000\n')
mavproxy.send('rc 4 2000\n')
mavproxy.expect('APM: ARMING MOTORS')
mavproxy.send('rc 4 1500\n')
print("MOTORS ARMED OK")
def disarm_motors(mavproxy):
'''disarm motors'''
mavproxy.send('rc 3 1000\n')
mavproxy.send('rc 4 1000\n')
mavproxy.expect('APM: DISARMING MOTORS')
mavproxy.send('rc 4 1500\n')
print("MOTORS DISARMED OK")
def takeoff(mavproxy, mav):
'''takeoff get to 30m altitude'''
mavproxy.send('switch 6\n') # stabilize mode
mavproxy.expect('STABILIZE>')
mavproxy.send('rc 3 1500\n')
mavproxy.send('status\n')
m = mav.recv_match(type='VFR_HUD', condition='VFR_HUD.alt>=30', blocking=True)
print("Altitude %u" % m.alt)
print("TAKEOFF COMPLETE")
def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
'''hold loiter position'''
mavproxy.send('switch 5\n') # loiter mode
mavproxy.expect('LOITER>')
mavproxy.send('status\n')
mavproxy.expect('>')
m = mav.recv_match(type='VFR_HUD', blocking=True)
start_altitude = m.alt
tstart = time.time()
tholdstart = time.time()
print("Holding loiter at %u meters for %u seconds" % (start_altitude, holdtime))
while time.time() < tstart + timeout:
m = mav.recv_match(type='VFR_HUD', blocking=True)
print("Altitude %u" % m.alt)
if math.fabs(m.alt - start_altitude) > maxaltchange:
tholdstart = time.time()
if time.time() - tholdstart > holdtime:
print("Loiter OK for %u seconds" % holdtime)
return True
print("Loiter FAILED")
return False
def land(mavproxy, mav, timeout=60):
'''land the quad'''
mavproxy.send('switch 6\n')
mavproxy.expect('STABILIZE>')
mavproxy.send('status\n')
mavproxy.expect('>')
mavproxy.send('rc 3 1300\n')
tstart = time.time()
while time.time() < tstart + timeout:
m = mav.recv_match(type='VFR_HUD', blocking=True)
print("Altitude %u" % m.alt)
if m.alt <= 0:
print("LANDED OK")
return True
print("LANDING FAILED")
return False
def setup_rc(mavproxy):
'''setup RC override control'''
for chan in range(1,9):
mavproxy.send('rc %u 1500\n' % chan)
# zero throttle
mavproxy.send('rc 3 1000\n')
def fly_ArduCopter():
'''fly ArduCopter in SIL'''
util.rmfile('eeprom.bin')
sil = util.start_SIL('ArduCopter')
mavproxy = util.start_MAVProxy_SIL('ArduCopter')
mavproxy.expect('Please Run Setup')
# we need to restart it after eeprom erase
mavproxy.close()
sil.close()
sil = util.start_SIL('ArduCopter')
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:14550 --quadcopter')
mavproxy.expect('Logging to (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
mavproxy.expect("Ready to FLY")
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
mavproxy.send("param load autotest/ArduCopter.parm\n")
mavproxy.expect('Loaded [0-9]+ parameters')
# start hil_quad.py
hquad = pexpect.spawn('HILTest/hil_quad.py --fgout=192.168.2.15:9123 --home=%s' % HOME_LOCATION,
logfile=sys.stdout, timeout=10)
hquad.expect('Starting at')
# get a mavlink connection going
mav = mavutil.mavlink_connection('127.0.0.1:14550', robust_parsing=True)
failed = False
try:
mav.wait_heartbeat()
mav.recv_match(type='GPS_RAW')
setup_rc(mavproxy)
arm_motors(mavproxy)
takeoff(mavproxy, mav)
loiter(mavproxy, mav)
land(mavproxy, mav)
disarm_motors(mavproxy)
except Exception, e:
failed = True
mavproxy.close()
sil.close()
hquad.close()
shutil.copy(logfile, "buildlogs/ArduCopter-test.mavlog")
util.run_cmd("pymavlink/examples/mavtogpx.py buildlogs/ArduCopter-test.mavlog")
util.run_cmd("bin/gpxtokml buildlogs/ArduCopter-test.mavlog.gpx")
if failed:
print("FAILED: %s" % e)
sys.exit(1)

76
Tools/autotest/autotest.py Executable file
View File

@ -0,0 +1,76 @@
#!/usr/bin/env python
# APM automatic test suite
# Andrew Tridgell, October 2011
import pexpect, os, util, sys, shutil, arducopter
import optparse, fnmatch
os.putenv('TMPDIR', util.relcwd('tmp'))
def get_default_params(atype):
'''get default parameters'''
util.rmfile('eeprom.bin')
sil = util.start_SIL(atype)
mavproxy = util.start_MAVProxy_SIL(atype)
idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
if idx == 0:
# we need to restart it after eeprom erase
mavproxy.close()
sil.close()
sil = util.start_SIL(atype)
mavproxy = util.start_MAVProxy_SIL(atype)
idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
parmfile = mavproxy.match.group(1)
dest = os.path.join('buildlogs/%s.defaults.txt' % atype)
shutil.copy(parmfile, dest)
mavproxy.close()
sil.close()
print("Saved defaults for %s to %s" % (atype, dest))
############## main program #############
parser = optparse.OptionParser("autotest")
parser.add_option("--skip", type='string', default='', help='list of steps to skip (comma separated)')
parser.add_option("--list", action='store_true', default=False, help='list the available steps')
opts, args = parser.parse_args()
steps = [
'build.ArduPlane',
'build.ArduCopter',
'defaults.ArduPlane',
'defaults.ArduCopter',
'fly.ArduCopter'
]
skipsteps = opts.skip.split(',')
def skip_step(step):
'''see if a step should be skipped'''
for skip in skipsteps:
if fnmatch.fnmatch(step, skip):
return True
return False
# kill any previous instance
util.kill('ArduCopter.elf')
util.kill('ArduPilot.elf')
for step in steps:
if skip_step(step):
continue
if step == 'build.ArduPlane':
util.build_SIL('ArduPlane')
elif step == 'build.ArduCopter':
util.build_SIL('ArduCopter')
elif step == 'defaults.ArduPlane':
get_default_params('ArduPlane')
elif step == 'defaults.ArduCopter':
get_default_params('ArduCopter')
elif step == 'fly.ArduCopter':
arducopter.fly_ArduCopter()
else:
raise RuntimeError("Unknown step %s" % step)
util.kill('ArduCopter.elf')
util.kill('ArduPilot.elf')

64
Tools/autotest/util.py Normal file
View File

@ -0,0 +1,64 @@
# utility code for autotest
import os, pexpect, sys
from subprocess import call, check_call,Popen, PIPE
def relhome(path):
'''return a path relative to $HOME'''
return os.path.join(os.getenv('HOME'), path)
def relcwd(path):
'''return a path relative to $CWD'''
return os.path.join(os.getcwd(), path)
def run_cmd(cmd, dir=".", show=False, output=False, checkfail=True):
'''run a shell command'''
if show:
print("Running: '%s' in '%s'" % (cmd, dir))
if output:
return Popen([cmd], shell=True, stdout=PIPE, cwd=dir).communicate()[0]
elif checkfail:
return check_call(cmd, shell=True, cwd=dir)
else:
return call(cmd, shell=True, cwd=dir)
def rmfile(path):
'''remove a file if it exists'''
try:
os.unlink('eeprom.bin')
except Exception:
pass
def deltree(path):
'''delete a tree of files'''
run_cmd('rm -rf %s' % path)
def build_SIL(atype):
'''build desktop SIL'''
run_cmd("make -f ../libraries/Desktop/Makefile.desktop clean hil",
dir=relcwd('APM/' + atype),
checkfail=True)
def start_SIL(atype):
'''launch a SIL instance'''
ret = pexpect.spawn('tmp/%s.build/%s.elf' % (atype, atype),
logfile=sys.stdout, timeout=5)
ret.expect('Waiting for connection')
return ret
def start_MAVProxy_SIL(atype, options=''):
'''launch mavproxy connected to a SIL instance'''
MAVPROXY = relcwd('MAVProxy/mavproxy.py')
ret = pexpect.spawn('%s --master=tcp:127.0.0.1:5760 --aircraft=test.%s %s' % (
MAVPROXY,atype,options),
logfile=sys.stdout, timeout=60)
return ret
def kill(name):
'''kill a process'''
run_cmd('killall -9 -q %s' % name, checkfail=False)