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autotest: fly CopterAVC mission as a helicopter

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this ensures heli gets basic testing
This commit is contained in:
Andrew Tridgell 2015-05-27 18:13:55 +10:00
parent 6701d53d49
commit 717c04d507
2 changed files with 21 additions and 7 deletions
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23
Tools/autotest/arducopter.py
View File

@ -1260,20 +1260,20 @@ def fly_CopterAVC(viewerip=None, map=False):
util.build_SIL('ArduCopter', target=TARGET) util.build_SIL('ArduCopter', target=TARGET)
home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading) home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
sil = util.start_SIL('ArduCopter', wipe=True, model='+', home=home, speedup=speedup_default) sil = util.start_SIL('ArduCopter', wipe=True, model='heli', home=home, speedup=speedup_default)
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter') mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550')
mavproxy.expect('Received [0-9]+ parameters') mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters # setup test parameters
mavproxy.send("param load %s/copter_AVC2013_params.parm\n" % testdir) mavproxy.send("param load %s/Helicopter.parm\n" % testdir)
mavproxy.expect('Loaded [0-9]+ parameters') mavproxy.expect('Loaded [0-9]+ parameters')
# reboot with new parameters # reboot with new parameters
util.pexpect_close(mavproxy) util.pexpect_close(mavproxy)
util.pexpect_close(sil) util.pexpect_close(sil)
sil = util.start_SIL('ArduCopter', model='+', home=home, speedup=speedup_default) sil = util.start_SIL('ArduCopter', model='heli', home=home, speedup=speedup_default)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5' options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
if viewerip: if viewerip:
options += ' --out=%s:14550' % viewerip options += ' --out=%s:14550' % viewerip
if map: if map:
@ -1323,8 +1323,11 @@ def fly_CopterAVC(viewerip=None, map=False):
setup_rc(mavproxy) setup_rc(mavproxy)
homeloc = mav.location() homeloc = mav.location()
# wait 10sec to allow EKF to settle print("Lowering rotor speed")
wait_seconds(mav, 10) mavproxy.send('rc 8 1000\n')
# wait 20sec to allow EKF to settle
wait_seconds(mav, 20)
# Arm # Arm
print("# Arm motors") print("# Arm motors")
@ -1333,6 +1336,9 @@ def fly_CopterAVC(viewerip=None, map=False):
print(failed_test_msg) print(failed_test_msg)
failed = True failed = True
print("Raising rotor speed")
mavproxy.send('rc 8 2000\n')
print("# Fly AVC mission") print("# Fly AVC mission")
if not fly_avc_test(mavproxy, mav): if not fly_avc_test(mavproxy, mav):
failed_test_msg = "fly_avc_test failed" failed_test_msg = "fly_avc_test failed"
@ -1341,6 +1347,9 @@ def fly_CopterAVC(viewerip=None, map=False):
else: else:
print("Flew AVC mission OK") print("Flew AVC mission OK")
print("Lowering rotor speed")
mavproxy.send('rc 8 1000\n')
#mission includes disarm at end so should be ok to download logs now #mission includes disarm at end so should be ok to download logs now
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/CopterAVC-log.bin")): if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/CopterAVC-log.bin")):
failed_test_msg = "log_download failed" failed_test_msg = "log_download failed"

5
Tools/autotest/autotest.py
View File

@ -163,6 +163,8 @@ steps = [
'build.ArduCopter', 'build.ArduCopter',
'defaults.ArduCopter', 'defaults.ArduCopter',
'fly.ArduCopter', 'fly.ArduCopter',
'build.Helicopter',
'fly.CopterAVC', 'fly.CopterAVC',
'convertgpx', 'convertgpx',
@ -204,6 +206,9 @@ def run_step(step):
if step == 'build.ArduCopter': if step == 'build.ArduCopter':
return util.build_SIL('ArduCopter', j=opts.j) return util.build_SIL('ArduCopter', j=opts.j)
if step == 'build.Helicopter':
return util.build_SIL('ArduCopter', target='sitl-heli', j=opts.j)
if step == 'defaults.ArduPlane': if step == 'defaults.ArduPlane':
return get_default_params('ArduPlane') return get_default_params('ArduPlane')