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autotest: fly each working Helicopter frame

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This commit is contained in:
Peter Barker 2021-06-08 19:49:31 +10:00 committed by Peter Barker
parent 757fc1d679
commit 6944ef6af1
6 changed files with 104 additions and 16 deletions
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82
Tools/autotest/arducopter.py
View File

@ -96,7 +96,7 @@ class AutoTestCopter(AutoTest):
pass
def defaults_filepath(self):
return self.model_defaults_filepath(self.vehicleinfo_key(), self.frame)
return self.model_defaults_filepath(self.frame)
def wait_disarmed_default_wait_time(self):
return 120
@ -5646,7 +5646,7 @@ class AutoTestCopter(AutoTest):
ex = None
try:
self.customise_SITL_commandline(
["--defaults", ','.join(self.model_defaults_filepath('ArduCopter', 'Callisto'))],
["--defaults", ','.join(self.model_defaults_filepath('Callisto'))],
model="octa-quad:@ROMFS/models/Callisto.json",
wipe=True,
)
@ -6598,7 +6598,7 @@ class AutoTestCopter(AutoTest):
def test_callisto(self):
self.customise_SITL_commandline(
["--defaults", ','.join(self.model_defaults_filepath('ArduCopter', 'Callisto')), ],
["--defaults", ','.join(self.model_defaults_filepath('Callisto')), ],
model="octa-quad:@ROMFS/models/Callisto.json",
wipe=True,
)
@ -6632,7 +6632,7 @@ class AutoTestCopter(AutoTest):
# should really have another entry in the vehicleinfo data
# to carry the path to the JSON.
actual_model = model.split(":")[0]
defaults = self.model_defaults_filepath("ArduCopter", actual_model)
defaults = self.model_defaults_filepath(actual_model)
if type(defaults) != list:
defaults = [defaults]
self.customise_SITL_commandline(
@ -7313,6 +7313,9 @@ class AutoTestCopter(AutoTest):
class AutoTestHeli(AutoTestCopter):
def vehicleinfo_key(self):
return 'Helicopter'
def log_name(self):
return "HeliCopter"
@ -7425,6 +7428,70 @@ class AutoTestHeli(AutoTestCopter):
self.progress("AVC mission completed: passed!")
def takeoff(self,
alt_min=30,
takeoff_throttle=1700,
require_absolute=True,
mode="STABILIZE",
timeout=120):
"""Takeoff get to 30m altitude."""
self.progress("TAKEOFF")
self.change_mode(mode)
if not self.armed():
self.wait_ready_to_arm(require_absolute=require_absolute, timeout=timeout)
self.zero_throttle()
self.arm_vehicle()
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1660, timeout=10)
if mode == 'GUIDED':
self.user_takeoff(alt_min=alt_min)
else:
self.set_rc(3, takeoff_throttle)
self.wait_for_alt(alt_min=alt_min, timeout=timeout)
self.hover()
self.progress("TAKEOFF COMPLETE")
def fly_each_frame(self):
vinfo = vehicleinfo.VehicleInfo()
vinfo_options = vinfo.options[self.vehicleinfo_key()]
known_broken_frames = {
}
for frame in sorted(vinfo_options["frames"].keys()):
self.start_subtest("Testing frame (%s)" % str(frame))
if frame in known_broken_frames:
self.progress("Actually, no I'm not - it is known-broken (%s)" %
(known_broken_frames[frame]))
continue
frame_bits = vinfo_options["frames"][frame]
print("frame_bits: %s" % str(frame_bits))
if frame_bits.get("external", False):
self.progress("Actually, no I'm not - it is an external simulation")
continue
model = frame_bits.get("model", frame)
# the model string for Callisto has crap in it.... we
# should really have another entry in the vehicleinfo data
# to carry the path to the JSON.
actual_model = model.split(":")[0]
defaults = self.model_defaults_filepath(actual_model)
if type(defaults) != list:
defaults = [defaults]
self.customise_SITL_commandline(
["--defaults", ','.join(defaults), ],
model=model,
wipe=True,
)
self.takeoff(10)
self.do_RTL()
self.set_rc(8, 1000)
def hover(self):
self.progress("Setting hover collective")
self.set_rc(3, 1500)
def fly_heli_poshold_takeoff(self):
"""ensure vehicle stays put until it is ready to fly"""
self.context_push()
@ -7453,8 +7520,7 @@ class AutoTestHeli(AutoTestCopter):
self.progress("Pushing collective past half-way")
self.set_rc(3, 1600)
self.delay_sim_time(0.5)
self.progress("Bringing back to hover collective")
self.set_rc(3, 1500)
self.hover()
# make sure we haven't already reached alt:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
@ -7609,6 +7675,10 @@ class AutoTestHeli(AutoTestCopter):
"Fly AutoRotation",
self.fly_autorotation),
("FlyEachFrame",
"Fly each supported internal frame",
self.fly_each_frame),
("LogUpload",
"Log upload",
self.log_upload),

2
Tools/autotest/arduplane.py
View File

@ -2067,7 +2067,7 @@ class AutoTestPlane(AutoTest):
self.customise_SITL_commandline(
[],
model=model,
defaults_filepath=self.model_defaults_filepath("ArduPlane", model),
defaults_filepath=self.model_defaults_filepath(model),
wipe=True)
self.load_mission('CMAC-soar.txt', strict=False)

7
Tools/autotest/common.py
View File

@ -1390,8 +1390,7 @@ class AutoTest(ABC):
self.progress("Applying default parameters file")
# setup test parameters
if self.params is None:
self.params = self.model_defaults_filepath(self.vehicleinfo_key(),
self.frame)
self.params = self.model_defaults_filepath(self.frame)
for x in self.params:
self.repeatedly_apply_parameter_file(os.path.join(testdir, x))
@ -10487,8 +10486,8 @@ switch value'''
return psd
def model_defaults_filepath(self, vehicle, model):
def model_defaults_filepath(self, model):
vehicle = self.vehicleinfo_key()
vinfo = vehicleinfo.VehicleInfo()
defaults_filepath = vinfo.options[vehicle]["frames"][model]["default_params_filename"]
if isinstance(defaults_filepath, str):

22
Tools/autotest/pysim/vehicleinfo.py
View File

@ -150,9 +150,6 @@ class VehicleInfo(object):
"default_params_filename": ["default_params/copter-heli.parm",
"default_params/copter-heli-dual.parm"],
},
"heli-compound": {
"waf_target": "bin/arducopter-heli",
},
"singlecopter": {
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter-single.parm",
@ -179,6 +176,25 @@ class VehicleInfo(object):
},
},
},
"Helicopter": {
"default_frame": "heli",
"frames": {
"heli": {
"waf_target": "bin/arducopter-heli",
"default_params_filename": "default_params/copter-heli.parm",
},
"heli-dual": {
"waf_target": "bin/arducopter-heli",
"default_params_filename": ["default_params/copter-heli.parm",
"default_params/copter-heli-dual.parm"],
},
# "heli-compound": {
# "waf_target": "bin/arducopter-heli",
# "default_params_filename": ["default_params/copter-heli.parm",
# "default_params/copter-heli-compound.parm"],
# },
},
},
"Blimp": {
"default_frame": "quad",
"frames": {

5
Tools/autotest/quadplane.py
View File

@ -46,6 +46,9 @@ class AutoTestQuadPlane(AutoTest):
def get_normal_armable_modes_list():
return []
def vehicleinfo_key(self):
return 'ArduPlane'
def default_frame(self):
return "quadplane"
@ -71,7 +74,7 @@ class AutoTestQuadPlane(AutoTest):
pass
def defaults_filepath(self):
return self.model_defaults_filepath("ArduPlane", self.frame)
return self.model_defaults_filepath(self.frame)
def is_plane(self):
return True

2
Tools/autotest/rover.py
View File

@ -5345,7 +5345,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.customise_SITL_commandline([],
model=model,
defaults_filepath=self.model_defaults_filepath("Rover", model))
defaults_filepath=self.model_defaults_filepath(model))
self.change_mode("MANUAL")
self.wait_ready_to_arm()