Autotest: Fence is present, but test looking for not present
Autotest: Remove ties to mavlink FENCE_ACTION Autotest: Add ArduPlane autotest to test ceiling and floor Adds a test to ensure the vehicle reverts to RTL when breaching a ceiling or floor. Autotest: Progress the test once we reach takeoff complete and fence enable Autotest: Use RC_OPTION for Aux Switch functionality Autotest: Enable fence last
This commit is contained in:
James O'Shannessy
Peter Barker
parent
c2abf27d78
commit
1a3e168ced
@ -0,0 +1,6 @@
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-35.363720 149.163651
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-35.358738 149.165070
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-35.359295 149.154434
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-35.372292 149.157135
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-35.368290 149.166809
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-35.358738 149.165070
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@ -0,0 +1,10 @@
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QGC WPL 110
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2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.359628 149.164405 100.000000 1
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3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.360380 149.157558 60.000000 1
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4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364289 149.156969 100.000000 1
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5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.369329 149.158092 140.000000 1
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6 0 0 189 0.000000 0.000000 0.000000 0.000000 -35.369329 149.158092 0.000000 1
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7 0 3 31 0.000000 -75.000000 0.000000 1.000000 -35.367154 149.164864 100.000000 1
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8 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.363200 149.165233 0.000000 1
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@ -967,8 +967,9 @@ class AutoTestPlane(AutoTest):
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self.load_fence("CMAC-fence.txt")
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self.set_parameter("FENCE_CHANNEL", 7)
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self.set_parameter("FENCE_ACTION", 4)
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self.set_parameter("RC7_OPTION", 11) # AC_Fence uses Aux switch functionality
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self.set_parameter("FENCE_ACTION", 4) # Fence action Brake
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self.set_parameter("FENCE_ENABLE", 1)
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self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE,
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present=True,
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@ -1113,9 +1114,9 @@ class AutoTestPlane(AutoTest):
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if m is not None:
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raise NotAchievedException("Got FENCE_STATUS unexpectedly")
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self.drain_mav_unparsed()
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self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_NONE) # report only
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self.assert_fence_sys_status(False, False, True)
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self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_RTL) # report only
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self.set_parameter("FENCE_ACTION", 0) # report only
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self.assert_fence_sys_status(True, False, True)
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self.set_parameter("FENCE_ACTION", 1) # RTL
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self.assert_fence_sys_status(True, False, True)
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self.do_fence_enable()
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self.assert_fence_sys_status(True, True, True)
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@ -1127,9 +1128,9 @@ class AutoTestPlane(AutoTest):
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(m.breach_status))
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self.do_fence_disable()
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self.assert_fence_sys_status(True, False, True)
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self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_NONE)
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self.assert_fence_sys_status(False, False, True)
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self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_RTL)
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self.set_parameter("FENCE_ACTION", 1)
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self.assert_fence_sys_status(True, False, True)
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self.set_parameter("FENCE_ACTION", 0)
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self.assert_fence_sys_status(True, False, True)
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self.clear_fence()
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if self.get_parameter("FENCE_TOTAL") != 0:
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@ -1166,7 +1167,7 @@ class AutoTestPlane(AutoTest):
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expected_radius = REALLY_BAD_FUDGE_FACTOR * want_radius
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self.set_parameter("RTL_RADIUS", want_radius)
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self.set_parameter("NAVL1_LIM_BANK", 60)
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self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_RTL)
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self.set_parameter("FENCE_ACTION", 1) # AC_FENCE_ACTION_RTL_AND_LAND == 1. mavutil.mavlink.FENCE_ACTION_RTL == 4
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self.do_fence_enable()
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self.assert_fence_sys_status(True, True, True)
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@ -2331,6 +2332,78 @@ class AutoTestPlane(AutoTest):
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if ex is not None:
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raise ex
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def test_fence_alt_ceil_floor(self):
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ex = None
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target_system = 1
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target_component = 1
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try:
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self.progress("Testing Fence Enable")
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# Load Fence
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self.load_fence("CMAC-fence.txt")
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if self.get_parameter("FENCE_TOTAL") == 0:
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raise NotAchievedException("Expected fence to be present")
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# Load Mission
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self.load_mission("CMAC-mission.txt")
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# Set up fence parameters
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self.set_parameter("FENCE_AUTOENABLE", 1) # Enable/Disable on Takeoff/Landing
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self.set_parameter("FENCE_ACTION", 1) # RTL
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self.set_parameter("FENCE_TYPE", 13) # Set Fence Type to Alt Max/Min and Polygon
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self.set_parameter("FENCE_ALT_MIN", 80)
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self.set_parameter("FENCE_ALT_MAX", 120)
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# Now we can arm the vehicle and kick off the flight
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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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# On takeoff complete, check fence is enabled
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self.progress("Looking for takeoff complete")
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self.mavproxy.expect("APM: Takeoff complete at [0-9]+\.[0-9]+m")
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#self.progress("Looking for fence enable")
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#self.mavproxy.expect("fence enabled")
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# Fly until we breach fence floor where we enter RTL
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self.progress("Looking for fence breach")
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self.mavproxy.expect("fence breach")
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# As we RTL, we should re-enter fence zone. Wait until we're inside
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self.progress("Waiting for return to altitude")
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self.wait_altitude(altitude_min=100, altitude_max=110, timeout=30, relative=True)
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# Skip the waypoint outside fence, continue mission
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self.progress("Skipping to next waypoint")
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self.mav.waypoint_set_current_send(4)
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self.change_mode("AUTO")
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self.drain_mav()
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# Fly until we breach fence ceiling where we enter RTL
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self.mavproxy.expect("fence breach")
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# As we RTL, we should re-enter fence zone. Wait until we're inside
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self.wait_altitude(altitude_min=100, altitude_max=110, timeout=60, relative=True)
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# Skip the waypoint outside fence, continue mission
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self.progress("Skipping to next waypoint")
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self.mav.waypoint_set_current_send(6)
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self.change_mode("AUTO")
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self.drain_mav()
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# Continue through to landing sequence, which disables the fence
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self.progress("Continuing mission to land")
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self.mavproxy.expect("APM: Fence disabled \(auto disable\)")
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# Once landed, wait till disarmed
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self.wait_disarmed(timeout=120)
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except Exception as e:
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self.progress("Exception caught:")
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self.progress(self.get_exception_stacktrace(e))
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ex = e
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if ex is not None:
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raise ex
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def tests(self):
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'''return list of all tests'''
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ret = super(AutoTestPlane, self).tests()
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@ -2400,6 +2473,10 @@ class AutoTestPlane(AutoTest):
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"Test Fence RTL Rally",
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self.test_fence_rtl_rally),
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("FenceAltCeilFloor",
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"Tests the fence ceiling and floor",
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self.test_fence_alt_ceil_floor),
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("ADSB",
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"Test ADSB",
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self.test_adsb),
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