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Tools: autotest: add IRLock SITL test

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This commit is contained in:
Pierre Kancir 2021-06-14 12:33:05 +02:00 committed by Peter Barker
parent ddb7378bdd
commit 8234fd4c39
1 changed files with 43 additions and 41 deletions
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84
Tools/autotest/arducopter.py
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@ -3097,53 +3097,55 @@ class AutoTestCopter(AutoTest):
self.wait_statustext("finished motor test")
self.end_subtest("Testing percentage output")
def fly_precision_sitl(self):
"""Use SITL PrecLand backend precision messages to land aircraft."""
def fly_precision_landing_drivers(self):
"""Use PrecLand backends precision messages to land aircraft."""
self.context_push()
ex = None
try:
self.set_parameter("PLND_ENABLED", 1)
self.set_parameter("PLND_TYPE", 4)
for backend in [4, 2]: # SITL, SITL-IRLOCK
ex = None
try:
self.set_parameter("PLND_ENABLED", 1)
self.set_parameter("PLND_TYPE", backend)
self.set_analog_rangefinder_parameters()
self.set_parameter("SIM_SONAR_SCALE", 12)
self.set_analog_rangefinder_parameters()
self.set_parameter("SIM_SONAR_SCALE", 12)
start = self.mav.location()
target = start
(target.lat, target.lng) = mavextra.gps_offset(start.lat, start.lng, 4, -4)
self.progress("Setting target to %f %f" % (target.lat, target.lng))
start = self.mav.location()
target = start
(target.lat, target.lng) = mavextra.gps_offset(start.lat, start.lng, 4, -4)
self.progress("Setting target to %f %f" % (target.lat, target.lng))
self.set_parameter("SIM_PLD_ENABLE", 1)
self.set_parameter("SIM_PLD_LAT", target.lat)
self.set_parameter("SIM_PLD_LON", target.lng)
self.set_parameter("SIM_PLD_HEIGHT", 0)
self.set_parameter("SIM_PLD_ALT_LMT", 15)
self.set_parameter("SIM_PLD_DIST_LMT", 10)
self.set_parameter("SIM_PLD_ENABLE", 1)
self.set_parameter("SIM_PLD_LAT", target.lat)
self.set_parameter("SIM_PLD_LON", target.lng)
self.set_parameter("SIM_PLD_HEIGHT", 0)
self.set_parameter("SIM_PLD_ALT_LMT", 15)
self.set_parameter("SIM_PLD_DIST_LMT", 10)
self.reboot_sitl()
self.progress("Waiting for location")
self.zero_throttle()
self.takeoff(10, 1800, mode="LOITER")
self.change_mode("LAND")
self.zero_throttle()
self.wait_landed_and_disarmed()
self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
new_pos = self.mav.location()
delta = self.get_distance(target, new_pos)
self.progress("Landed %f metres from target position" % delta)
max_delta = 1
if delta > max_delta:
raise NotAchievedException("Did not land close enough to target position (%fm > %fm" % (delta, max_delta))
if not self.current_onboard_log_contains_message("PL"):
raise NotAchievedException("Did not see expected PL message")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.reboot_sitl()
self.progress("Waiting for location")
self.zero_throttle()
self.takeoff(10, 1800)
self.change_mode("LAND")
self.wait_landed_and_disarmed()
self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
new_pos = self.mav.location()
delta = self.get_distance(target, new_pos)
self.progress("Landed %f metres from target position" % delta)
max_delta = 1
if delta > max_delta:
raise NotAchievedException("Did not land close enough to target position (%fm > %fm" % (delta, max_delta))
if not self.current_onboard_log_contains_message("PL"):
raise NotAchievedException("Did not see expected PL message")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.zero_throttle()
self.context_pop()
self.reboot_sitl()
@ -7085,8 +7087,8 @@ class AutoTestCopter(AutoTest):
self.fly_precision_companion), # 29s
("PrecisionLandingSITL",
"Precision Landing (SITL)",
self.fly_precision_sitl), # 29s
"Precision Landing drivers (SITL)",
self.fly_precision_landing_drivers), # 29s
("SetModesViaModeSwitch",
"Set modes via modeswitch",