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Tools: autotest: convert Copter to new tests framework

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This commit is contained in:
Peter Barker 2018-12-17 17:42:21 +11:00 committed by Andrew Tridgell
parent 22cc55a500
commit 3b57635ec9
2 changed files with 267 additions and 298 deletions
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501
Tools/autotest/arducopter.py
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@ -79,6 +79,8 @@ class AutoTestCopter(AutoTest):
if self.frame is None:
self.frame = '+'
self.mavproxy_logfile = self.open_mavproxy_logfile()
if self.frame == 'heli':
self.log_name = "HeliCopter"
self.home = "%f,%f,%u,%u" % (AVCHOME.lat,
@ -147,11 +149,11 @@ class AutoTestCopter(AutoTest):
def takeoff(self,
alt_min=30,
takeoff_throttle=1700,
require_absolute=True):
require_absolute=True,
mode="STABILIZE"):
"""Takeoff get to 30m altitude."""
self.progress("TAKEOFF")
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
self.change_mode(mode)
if not self.armed():
self.progress("Waiting reading for arm")
self.wait_ready_to_arm(require_absolute=require_absolute)
@ -174,9 +176,7 @@ class AutoTestCopter(AutoTest):
def land(self, timeout=60):
"""Land the quad."""
self.progress("STARTING LANDING")
self.mavproxy.send('switch 2\n') # land mode
self.wait_mode('LAND', timeout=timeout)
self.progress("Entered Landing Mode")
self.change_mode("LAND")
self.wait_altitude(-5, 1, relative=True, timeout=timeout)
self.progress("LANDING: ok!")
@ -186,8 +186,7 @@ class AutoTestCopter(AutoTest):
# loiter - fly south west, then loiter within 5m position and altitude
def loiter(self, holdtime=10, maxaltchange=5, maxdistchange=5):
"""Hold loiter position."""
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_mode('LOITER')
self.takeoff(10, mode="LOITER")
# first aim south east
self.progress("turn south east")
@ -225,6 +224,14 @@ class AutoTestCopter(AutoTest):
(delta, maxdistchange))
self.progress("Loiter OK for %u seconds" % holdtime)
self.progress("Climb to 30m")
self.change_alt(30)
self.progress("Descend to 20m")
self.change_alt(20)
self.do_RTL()
def change_alt(self, alt_min, climb_throttle=1920, descend_throttle=1080):
"""Change altitude."""
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
@ -245,6 +252,11 @@ class AutoTestCopter(AutoTest):
# fly a square in alt_hold mode
def fly_square(self, side=50, timeout=300):
self.clear_mission()
self.takeoff(10)
"""Fly a square, flying N then E ."""
tstart = self.get_sim_time()
@ -255,8 +267,7 @@ class AutoTestCopter(AutoTest):
self.set_rc(4, 1500)
# switch to loiter mode temporarily to stop us from rising
self.mavproxy.send('switch 5\n')
self.wait_mode('LOITER')
self.change_mode('LOITER')
# first aim north
self.progress("turn right towards north")
@ -271,8 +282,7 @@ class AutoTestCopter(AutoTest):
self.save_wp()
# switch back to stabilize mode
self.mavproxy.send('switch 6\n')
self.wait_mode('STABILIZE')
self.change_mode('STABILIZE')
# increase throttle a bit because we're about to pitch:
self.set_rc(3, 1525)
@ -333,11 +343,27 @@ class AutoTestCopter(AutoTest):
self.set_rc(3, 1500)
self.save_wp()
# save the stored mission to file
global num_wp
num_wp = self.save_mission_to_file(os.path.join(testdir,
"ch7_mission.txt"))
if not num_wp:
self.fail_list.append("save_mission_to_file")
self.progress("save_mission_to_file failed")
global num_wp
self.progress("test: Fly a mission from 1 to %u" % num_wp)
self.mavproxy.send('wp set 1\n')
self.change_mode('AUTO')
self.wait_waypoint(0, num_wp-1, timeout=500)
self.progress("test: MISSION COMPLETE: passed!")
self.change_mode('LAND')
self.mav.motors_disarmed_wait()
# enter RTL mode and wait for the vehicle to disarm
def fly_RTL(self, timeout=250):
def do_RTL(self, timeout=250):
"""Return, land."""
self.progress("# Enter RTL")
self.mavproxy.send('switch 3\n')
self.change_mode("RTL")
self.set_rc(3, 1500)
tstart = self.get_sim_time()
while self.get_sim_time() < tstart + timeout:
@ -413,9 +439,10 @@ class AutoTestCopter(AutoTest):
def fly_throttle_failsafe(self, side=60, timeout=180):
"""Fly east, Failsafe, return, land."""
self.takeoff(10)
# switch to loiter mode temporarily to stop us from rising
self.mavproxy.send('switch 5\n')
self.wait_mode('LOITER')
self.change_mode('LOITER')
# first aim east
self.progress("turn east")
@ -433,9 +460,8 @@ class AutoTestCopter(AutoTest):
self.wait_altitude(20, 25, relative=True)
self.hover()
# switch to stabilize mode
self.mavproxy.send('switch 6\n')
self.wait_mode('STABILIZE')
self.change_mode("STABILIZE")
self.hover()
# fly east 60 meters
@ -445,47 +471,42 @@ class AutoTestCopter(AutoTest):
self.set_rc(2, 1500)
# pull throttle low
self.progress("# Enter Failsafe")
self.progress("# Enter Failsafe by setting very low throttle")
self.set_rc(3, 900)
tstart = self.get_sim_time()
homeloc = self.poll_home_position()
home = mavutil.location(homeloc.latitude/1e7,
homeloc.longitude/1e7,
homeloc.altitude/1e3,
0)
while self.get_sim_time() < tstart + timeout:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
alt = m.relative_alt / 1000.0 # mm -> m
pos = self.mav.location()
home_distance = self.get_distance(HOME, pos)
home_distance = self.get_distance(home, pos )
self.progress("Alt: %u HomeDist: %.0f" % (alt, home_distance))
# check if we've reached home
if alt <= 1 and home_distance < 10:
# reduce throttle
self.set_rc(3, 1100)
# switch back to stabilize
self.mavproxy.send('switch 2\n') # land mode
self.wait_mode('LAND')
self.change_mode("LAND")
self.progress("Waiting for disarm")
self.mav.motors_disarmed_wait()
self.progress("Reached failsafe home OK")
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
self.change_mode('STABILIZE')
self.set_rc(3, 1000)
self.arm_vehicle()
return
# reduce throttle
self.set_rc(3, 1100)
# switch back to stabilize mode
self.mavproxy.send('switch 2\n') # land mode
self.wait_mode('LAND')
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
self.reboot_sitl()
raise AutoTestTimeoutException(
("Failed to land on failsafe RTL - "
("Failed to land and disarm on failsafe RTL - "
"timed out after %u seconds" % timeout))
def fly_battery_failsafe(self, timeout=300):
# switch to loiter mode so that we hold position
self.mavproxy.send('switch 5\n')
self.wait_mode('LOITER')
self.set_rc(3, 1500)
self.takeoff(10, mode='LOITER')
# enable battery failsafe
self.set_parameter('BATT_FS_LOW_ACT', 1)
@ -509,9 +530,8 @@ class AutoTestCopter(AutoTest):
holdtime=30,
maxaltchange=5,
maxdistchange=10):
"""Hold loiter position."""
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_mode('LOITER')
self.takeoff(10, mode="LOITER")
# first south
self.progress("turn south")
@ -558,11 +578,12 @@ class AutoTestCopter(AutoTest):
self.progress("Stability patch and Loiter OK for %us" % holdtime)
self.progress("RTL after stab patch")
self.do_RTL()
# fly_fence_test - fly east until you hit the horizontal circular fence
def fly_fence_test(self, timeout=180):
"""Hold loiter position."""
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_mode('LOITER')
self.takeoff(10, mode="LOITER")
# enable fence, disable avoidance
self.set_parameter("FENCE_ENABLE", 1)
@ -597,13 +618,11 @@ class AutoTestCopter(AutoTest):
if (alt <= 1 and home_distance < 10) or (not self.armed() and home_distance < 10):
# reduce throttle
self.set_rc(3, 1000)
self.mavproxy.send('switch 2\n') # land mode
self.wait_mode('LAND')
self.change_mode("LAND")
self.progress("Waiting for disarm")
self.mav.motors_disarmed_wait()
self.progress("Reached home OK")
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
self.change_mode("STABILIZE")
self.set_rc(3, 1000)
# remove if we ever clear battery failsafe flag on disarm:
self.mavproxy.send('arm uncheck all\n')
@ -617,19 +636,14 @@ class AutoTestCopter(AutoTest):
self.set_parameter("FENCE_ENABLE", 0)
self.set_parameter("AVOID_ENABLE", 1)
# reduce throttle
self.set_rc(3, 1000)
# switch mode to stabilize
self.mavproxy.send('switch 2\n') # land mode
self.wait_mode('LAND')
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
# give we're testing RTL, doing one here probably doesn't make sense
raise AutoTestTimeoutException(
("Fence test failed to reach home - "
"timed out after %u seconds" % timeout))
# fly_alt_fence_test - fly up until you hit the fence
def fly_alt_max_fence_test(self):
self.takeoff(10, mode="LOITER")
"""Hold loiter position."""
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_mode('LOITER')
@ -674,8 +688,7 @@ class AutoTestCopter(AutoTest):
def fly_gps_glitch_loiter_test(self, timeout=30, max_distance=20):
"""fly_gps_glitch_loiter_test. Fly south east in loiter and test
reaction to gps glitch."""
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_mode('LOITER')
self.takeoff(10, mode="LOITER")
# turn on simulator display of gps and actual position
if self.use_map:
@ -773,6 +786,7 @@ class AutoTestCopter(AutoTest):
self.progress("GPS glitch test passed!"
" stayed within %u meters for %u seconds" %
(max_distance, timeout))
self.do_RTL()
# fly_gps_glitch_auto_test - fly mission and test reaction to gps glitch
def fly_gps_glitch_auto_test(self, timeout=120):
@ -812,6 +826,11 @@ class AutoTestCopter(AutoTest):
self.progress("test: Fly a mission from 1 to %u" % num_wp)
self.mavproxy.send('wp set 1\n')
self.change_mode("STABILIZE")
self.wait_ready_to_arm()
self.set_rc(3, 1000)
self.arm_vehicle()
# switch into AUTO mode and raise throttle
self.mavproxy.send('switch 4\n') # auto mode
self.wait_mode('AUTO')
@ -883,7 +902,7 @@ class AutoTestCopter(AutoTest):
# directly north flies a box with 100m west, 15 seconds north,
# 50 seconds east, 15 seconds south
def fly_simple(self, side=50):
self.takeoff(10, mode="LOITER")
# hold position in loiter
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_mode('LOITER')
@ -930,12 +949,11 @@ class AutoTestCopter(AutoTest):
# hover in place
self.hover()
self.do_RTL()
# fly_super_simple - flies a circle around home for 45 seconds
def fly_super_simple(self, timeout=45):
# hold position in loiter
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_mode('LOITER')
self.takeoff(10, mode="LOITER")
# fly forward 20m
self.progress("# Flying forward 20 meters")
@ -947,8 +965,7 @@ class AutoTestCopter(AutoTest):
self.set_parameter("SUPER_SIMPLE", 63)
# switch to stabilize mode
self.mavproxy.send('switch 6\n')
self.wait_mode('STABILIZE')
self.change_mode("STABILIZE")
self.set_rc(3, 1500)
# start copter yawing slowly
@ -972,11 +989,11 @@ class AutoTestCopter(AutoTest):
# hover in place
self.hover()
self.do_RTL()
# fly_circle - flies a circle with 20m radius
def fly_circle(self, holdtime=36):
# hold position in loiter
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_mode('LOITER')
self.takeoff(10, mode="LOITER")
# face west
self.progress("turn west")
@ -1009,11 +1026,14 @@ class AutoTestCopter(AutoTest):
self.progress("CIRCLE OK for %u seconds" % holdtime)
self.do_RTL()
# fly_optical_flow_limits - test EKF navigation limiting
def fly_optical_flow_limits(self):
ex = None
self.context_push()
try:
self.set_parameter("SIM_FLOW_ENABLE", 1)
self.set_parameter("FLOW_ENABLE", 1)
@ -1067,6 +1087,8 @@ class AutoTestCopter(AutoTest):
# fly_autotune - autotune the virtual vehicle
def fly_autotune(self):
self.takeoff(10)
# hold position in loiter
self.mavproxy.send('mode autotune\n')
self.wait_mode('AUTOTUNE')
@ -1085,6 +1107,8 @@ class AutoTestCopter(AutoTest):
if "AutoTune: Success" in m.text:
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
# near enough for now:
self.change_mode('LAND')
self.mav.motors_disarmed_wait()
return
raise NotAchievedException("AUTOTUNE failed (%u seconds)" %
@ -1103,9 +1127,12 @@ class AutoTestCopter(AutoTest):
self.progress("test: Fly a mission from 1 to %u" % num_wp)
self.mavproxy.send('wp set 1\n')
self.change_mode("LOITER")
self.wait_ready_to_arm()
self.arm_vehicle()
# switch into AUTO mode and raise throttle
self.mavproxy.send('switch 4\n') # auto mode
self.wait_mode('AUTO')
self.change_mode("AUTO")
self.set_rc(3, 1500)
# fly the mission
@ -1184,8 +1211,7 @@ class AutoTestCopter(AutoTest):
if fail_servo < 0 or fail_servo > servo_count:
raise ValueError('fail_servo outside range for frame class')
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_mode('LOITER')
self.takeoff(10, mode="LOITER")
self.change_alt(alt_min=50)
@ -1273,21 +1299,10 @@ class AutoTestCopter(AutoTest):
self.set_parameter("SIM_ENGINE_MUL", 1.0)
raise e
return True
self.do_RTL()
def fly_mission(self):
"""Fly a mission from a file."""
global num_wp
self.progress("test: Fly a mission from 1 to %u" % num_wp)
self.mavproxy.send('wp set 1\n')
self.mavproxy.send('switch 4\n') # auto mode
self.wait_mode('AUTO')
self.wait_waypoint(0, num_wp-1, timeout=500)
self.progress("test: MISSION COMPLETE: passed!")
# wait here until ready
self.mavproxy.send('switch 5\n') # loiter mode
self.wait_mode('LOITER')
self.set_rc(3, 1500)
def fly_vision_position(self):
"""Disable GPS navigation, enable Vicon input."""
@ -2403,254 +2418,146 @@ class AutoTestCopter(AutoTest):
if ex is not None:
raise ex
def autotest(self):
"""Autotest ArduCopter in SITL."""
self.check_test_syntax(test_file=os.path.realpath(__file__))
if not self.hasInit:
self.init()
def default_mode(self):
return "STABILIZE"
self.fail_list = []
def set_rc_default(self):
super(AutoTestCopter, self).set_rc_default()
self.set_rc(3, 1000)
try:
self.progress("Waiting for a heartbeat with mavlink protocol %s"
% self.mav.WIRE_PROTOCOL_VERSION)
self.wait_heartbeat()
self.progress("Setting up RC parameters")
self.set_rc_default()
self.set_rc(3, 1000)
def tests(self):
'''return list of all tests'''
ret = super(AutoTestCopter, self).tests()
ret.extend([
self.run_test("Fly Nav Delay (takeoff)",
self.fly_nav_takeoff_delay_abstime)
("NavDelayTakeoffAbsTime",
"Fly Nav Delay (takeoff)",
self.fly_nav_takeoff_delay_abstime),
self.run_test("Fly Nav Delay (AbsTime)",
self.fly_nav_delay_abstime)
("NavDelayAbsTime",
"Fly Nav Delay (AbsTime)",
self.fly_nav_delay_abstime),
self.run_test("Fly Nav Delay", self.fly_nav_delay)
("NavDelay",
"Fly Nav Delay",
self.fly_nav_delay),
self.run_test("Test submode change",
self.fly_guided_change_submode)
("GuidedSubModeChange",
"Test submode change",
self.fly_guided_change_submode),
self.run_test("Loiter-To-Alt", self.fly_loiter_to_alt)
("LoiterToAlt",
"Loiter-To-Alt",
self.fly_loiter_to_alt),
self.run_test("Payload Place Mission",
self.fly_payload_place_mission)
self.run_test("Precision Loiter (Companion)",
self.fly_precision_companion)
self.run_test("Precision Landing (SITL)",
self.fly_precision_sitl)
("PayLoadPlaceMission",
"Payload Place Mission",
self.fly_payload_place_mission),
self.progress("Waiting for location")
self.homeloc = self.mav.location()
self.progress("Home location: %s" % self.homeloc)
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_heartbeat()
self.wait_mode('STABILIZE')
self.set_rc(3, 1000)
self.progress("Waiting reading for arm")
self.wait_ready_to_arm()
("PrecisionLoiterCompanion",
"Precision Loiter (Companion)",
self.fly_precision_companion),
self.run_test("Set modes via modeswitch",
self.test_setting_modes_via_modeswitch)
("PrecisionLandingSITL",
"Precision Landing (SITL)",
self.fly_precision_sitl),
self.run_test("Set modes via auxswitch",
self.test_setting_modes_via_auxswitch)
("SetModesViaModeSwitch",
"Set modes via modeswitch",
self.test_setting_modes_via_modeswitch),
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
("SetModesViaAuxSwitch",
"Set modes via auxswitch",
self.test_setting_modes_via_auxswitch),
self.mavproxy.send("wp clear\n")
("ArmFeatures", "Arm features", self.test_arm_feature),
# Arm
self.run_test("Arm features", self.test_arm_feature)
self.arm_vehicle()
("AutoTune", "Fly AUTOTUNE mode", self.fly_autotune),
# Takeoff
self.run_test("Takeoff to test fly Square",
lambda: self.takeoff(10))
("RecordThenPlayMission",
"Use switches to toggle in mission, then fly it",
self.fly_square),
# AutoTune mode
self.run_test("Fly AUTOTUNE mode", self.fly_autotune)
("ThrottleFailsafe",
"Test Throttle Failsafe",
self.fly_throttle_failsafe),
# Fly a square in Stabilize mode
self.run_test("Fly a square and save WPs with CH7",
self.fly_square)
("BatteryFailsafe",
"Fly Battery Failsafe",
self.fly_battery_failsafe),
# save the stored mission to file
global num_wp
num_wp = self.save_mission_to_file(os.path.join(testdir,
"ch7_mission.txt"))
if not num_wp:
self.fail_list.append("save_mission_to_file")
self.progress("save_mission_to_file failed")
("StabilityPatch",
"Fly stability patch",
lambda: self.fly_stability_patch(30)),
# fly the stored mission
self.run_test("Fly CH7 saved mission", self.fly_mission)
("HorizontalFence",
"Test horizontal fence",
lambda: self.fly_fence_test(180)),
# Throttle Failsafe
self.run_test("Test Failsafe", self.fly_throttle_failsafe)
("MaxAltFence",
"Test Max Alt Fence",
self.fly_alt_max_fence_test),
# Takeoff
self.run_test("Takeoff to test battery failsafe",
lambda: self.takeoff(10))
("GPSGlitchLoiter",
"GPS Glitch Loiter Test",
self.fly_gps_glitch_loiter_test),
# Battery failsafe
self.run_test("Fly Battery Failsafe", self.fly_battery_failsafe)
("GPSGlitchAuto",
"GPS Glitch Auto Test",
self.fly_gps_glitch_auto_test),
# Takeoff
self.run_test("Takeoff to test stability patch",
lambda: self.takeoff(10))
("ModeLoiter",
"Test Loiter Mode",
self.loiter),
# Stability patch
self.run_test("Fly stability patch",
lambda: self.fly_stability_patch(30))
("SimpleMode",
"Fly in SIMPLE mode",
self.fly_simple),
# RTL
self.run_test("RTL after stab patch", self.fly_RTL)
("SuperSimpleCircle",
"Fly a circle in SUPER SIMPLE mode",
self.fly_super_simple),
# Takeoff
self.run_test("Takeoff to test horizontal fence",
lambda: self.takeoff(10))
("ModeCircle",
"Fly CIRCLE mode",
self.fly_circle),
# Fence test
self.run_test("Test horizontal fence",
lambda: self.fly_fence_test(180))
("OpticalFlowLimits",
"Fly Optical Flow limits",
self.fly_optical_flow_limits),
# Takeoff
self.run_test("Takeoff to test Max Alt fence",
lambda: self.takeoff(10))
("MotorFail",
"Fly motor failure test",
self.fly_motor_fail),
# Fence test
self.run_test("Test Max Alt Fence", self.fly_alt_max_fence_test)
# Takeoff
self.run_test("Takeoff to test GPS glitch loiter",
lambda: self.takeoff(10))
# Fly GPS Glitch Loiter test
self.run_test("GPS Glitch Loiter Test",
self.fly_gps_glitch_loiter_test)
# RTL after GPS Glitch Loiter test
self.run_test("RTL after GPS Glitch Loiter test", self.fly_RTL)
# Arm
self.mavproxy.send('mode stabilize\n') # stabilize mode
self.wait_mode('STABILIZE')
self.set_rc(3, 1000)
self.run_test("Arm motors", self.arm_vehicle)
# Fly GPS Glitch test in auto mode
self.run_test("GPS Glitch Auto Test",
self.fly_gps_glitch_auto_test)
# Takeoff
self.run_test("Takeoff to test loiter", lambda: self.takeoff(10))
# Loiter for 10 seconds
self.run_test("Test Loiter for 10 seconds", self.loiter)
# Loiter Climb
self.run_test("Loiter - climb to 30m", lambda: self.change_alt(30))
# Loiter Descend
self.run_test("Loiter - descend to 20m",
lambda: self.change_alt(20))
# RTL
self.run_test("RTL after Loiter climb/descend", self.fly_RTL)
# Takeoff
self.run_test("Takeoff to test fly SIMPLE mode",
lambda: self.takeoff(10))
# Simple mode
self.run_test("Fly in SIMPLE mode", self.fly_simple)
# RTL
self.run_test("RTL after SIMPLE mode", self.fly_RTL)
# Takeoff
self.run_test("Takeoff to test circle in SUPER SIMPLE mode",
lambda: self.takeoff(10))
# Fly a circle in super simple mode
self.run_test("Fly a circle in SUPER SIMPLE mode",
self.fly_super_simple)
# RTL
self.run_test("RTL after SUPER SIMPLE mode", self.fly_RTL)
# Takeoff
self.run_test("Takeoff to test CIRCLE mode",
lambda: self.takeoff(10))
# Circle mode
self.run_test("Fly CIRCLE mode", self.fly_circle)
# Optical flow limits test
self.run_test("Fly Optical Flow limits",
self.fly_optical_flow_limits)
# RTL
self.run_test("RTL after CIRCLE mode", self.fly_RTL)
# Arm
self.set_rc(3, 1000)
self.mavproxy.send('mode stabilize\n') # stabilize mode
self.wait_mode('STABILIZE')
# Takeoff
self.run_test("Takeoff to test motor failure",
lambda: self.takeoff(10))
self.run_test("Fly motor failure test",
self.fly_motor_fail)
# RTL
self.run_test("RTL after motor failure test", self.fly_RTL)
# Arm
self.set_rc(3, 1000)
self.mavproxy.send('mode stabilize\n') # stabilize mode
self.wait_mode('STABILIZE')
self.run_test("Arm motors", self.arm_vehicle)
# Fly auto test
self.run_test("Fly copter mission", self.fly_auto_test)
# land
self.run_test("Fly copter mission", self.land)
# wait for disarm
self.mav.motors_disarmed_wait()
("CopterMission",
"Fly copter mission",
self.fly_auto_test),
# Gripper test
self.run_test("Test gripper", self.test_gripper)
("Gripper",
"Test gripper",
self.test_gripper),
self.run_test("Test gripper mission items",
self.test_gripper_mission)
("TestGripperMission",
"Test Gripper mission items",
self.test_gripper_mission),
'''vision position''' # expects vehicle to be disarmed
self.run_test("Fly Vision Position", self.fly_vision_position)
("VisionPosition",
"Fly Vision Position",
self.fly_vision_position),
'''tests for camera/antenna mount'''
self.run_test("Test Mount", self.test_mount)
("Mount",
"Test Camera/Antenna Mount",
self.test_mount),
# Download logs
self.run_test("log download",
lambda: self.log_download(
self.buildlogs_path("ArduCopter-log.bin"),
upload_logs=len(self.fail_list) > 0))
except pexpect.TIMEOUT:
self.progress("Failed with timeout")
self.fail_list.append("Failed with timeout")
self.close()
if len(self.fail_list):
self.progress("FAILED : %s" % self.fail_list)
return False
return True
("LogDownLoad",
"Log download",
lambda: self.log_download(
self.buildlogs_path("ArduPlane-log.bin"),
upload_logs=len(self.fail_list) > 0))
])
return ret
def autotest_heli(self):
"""Autotest Helicopter in SITL with AVC2013 mission."""

64
Tools/autotest/common.py
View File

@ -165,6 +165,7 @@ class AutoTest(ABC):
self.logfile = None
self.max_set_rc_timeout = 0
self.last_wp_load = 0
self.forced_post_test_sitl_reboots = 0
@staticmethod
def progress(text):
@ -1457,6 +1458,11 @@ class AutoTest(ABC):
return
self.progress('PASSED: "%s"' % desc)
def check_sitl_reset(self):
if self.armed():
self.forced_post_test_sitl_reboots += 1
self.reboot_sitl() # that'll learn it
def run_one_test(self, name, desc, test_function, interact=False):
'''new-style run-one-test used by run_tests'''
test_output_filename = self.buildlogs_path("%s-%s.txt" %
@ -1482,6 +1488,7 @@ class AutoTest(ABC):
self.mavproxy.interact()
tee.close()
tee = None
self.check_sitl_reset()
return
self.context_pop()
self.progress('PASSED: "%s"' % prettyname)
@ -1513,6 +1520,46 @@ class AutoTest(ABC):
"""Initilialize autotest feature."""
pass
def expect_command_ack(self, command):
m = self.mav.recv_match(type='COMMAND_ACK', blocking=True, timeout=10)
if m is None:
raise NotAchievedException()
if m.command != command:
raise ValueError()
if m.result != mavutil.mavlink.MAV_RESULT_ACCEPTED:
raise NotAchievedException()
def poll_home_position(self):
old = self.mav.messages.get("HOME_POSITION", None)
tstart = self.get_sim_time()
while True:
if self.get_sim_time() - tstart > 30:
raise NotAchievedException("Failed to poll home position")
self.mav.mav.command_long_send(
1,
1,
mavutil.mavlink.MAV_CMD_GET_HOME_POSITION,
0,
0,
0,
0,
0,
0,
0,
0)
m = self.mav.recv_match(type='COMMAND_ACK', blocking=True, timeout=10)
if m is None:
continue
if m.command != mavutil.mavlink.MAV_CMD_GET_HOME_POSITION:
continue
if m.result != 0:
continue
break
m = self.mav.messages.get("HOME_POSITION", None)
if old is not None and m._timestamp == old._timestamp:
raise NotAchievedException("home position not updated")
return m
def test_arm_feature(self):
"""Common feature to test."""
self.context_push()
@ -1760,6 +1807,14 @@ class AutoTest(ABC):
self.mavproxy.send("set streamrate %u\n" % sr)
raise e
def clear_mission(self):
self.mavproxy.send("wp clear\n")
self.mavproxy.send('wp list\n')
self.mavproxy.expect('Requesting [0-9]+ waypoints')
num_wp = mavwp.MAVWPLoader().count()
if num_wp != 0:
raise NotAchievedException("Failed to clear mission")
def test_gripper(self):
self.context_push()
self.set_parameter("GRIP_ENABLE", 1)
@ -1959,6 +2014,13 @@ class AutoTest(ABC):
def tests(self):
return []
def post_tests_announcements(self):
if self.forced_post_test_sitl_reboots != 0:
print("Had to force-reset SITL %u times" %
(self.forced_post_test_sitl_reboots,))
def autotest(self):
"""Autotest used by ArduPilot autotest CI."""
return self.run_tests(self.tests())
ret = self.run_tests(self.tests())
self.post_tests_announcements()
return ret