Tools: Add simple Blimp autotest, testing Manual, Loiter and RTL modes
This commit is contained in:
Michelle Rossouw
Peter Barker
parent
1d138c7630
commit
b57d17123f
@ -729,6 +729,7 @@ def write_fullresults():
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results.addglob('APM:Copter documentation', 'docs/ArduCopter/index.html')
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results.addglob('APM:Rover documentation', 'docs/Rover/index.html')
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results.addglob('APM:Sub documentation', 'docs/ArduSub/index.html')
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results.addglob('APM:Blimp documentation', 'docs/Blimp/index.html')
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results.addglobimage("Flight Track", '*.png')
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write_webresults(results)
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@ -14,15 +14,15 @@ from common import AutoTest
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# get location of scripts
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testdir = os.path.dirname(os.path.realpath(__file__))
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SITL_START_LOCATION = mavutil.location(-35.362938, 149.165085, 584, 270)
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SITL_START_LOCATION = mavutil.location(-35.362938, 149.165085, 584, 0)
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# Flight mode switch positions are set-up in arducopter.param to be
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# switch 1 = Circle
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# switch 2 = Land
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# switch 3 = RTL
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# switch 4 = Auto
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# switch 5 = Loiter
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# switch 6 = Stabilize
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# Flight mode switch positions are set-up in blimp.parm to be
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# switch 1 = Land
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# switch 2 = Manual
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# switch 3 = Velocity
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# switch 4 = Loiter
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# switch 5 = Manual
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# switch 6 = Manual
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class AutoTestBlimp(AutoTest):
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@ -105,16 +105,136 @@ class AutoTestBlimp(AutoTest):
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def set_autodisarm_delay(self, delay):
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self.set_parameter("DISARM_DELAY", delay)
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def Speed(self):
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'''test we can move'''
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def FlyManual(self):
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'''test manual mode'''
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self.change_mode('MANUAL')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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acc = 0.5
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# make sure we don't drift:
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start = self.mav.location()
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bl = self.mav.location()
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tl = self.offset_location_ne(location=bl, metres_north=2, metres_east=0)
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ttl = self.offset_location_ne(location=bl, metres_north=4, metres_east=0)
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tr = self.offset_location_ne(location=bl, metres_north=4, metres_east=2)
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ttr = self.offset_location_ne(location=bl, metres_north=4, metres_east=4)
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if self.mavproxy is not None:
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self.mavproxy.send(f"map icon {bl.lat} {bl.lng} flag\n")
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self.mavproxy.send(f"map icon {tl.lat} {tl.lng} flag\n")
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self.mavproxy.send(f"map icon {ttl.lat} {ttl.lng} flag\n")
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self.mavproxy.send(f"map icon {tr.lat} {tr.lng} flag\n")
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self.mavproxy.send(f"map icon {ttr.lat} {ttr.lng} flag\n")
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self.set_rc(2, 2000)
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self.wait_distance_to_location(start, 2, 10, timeout=40)
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self.wait_distance_to_location(tl, 0, acc, timeout=10)
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self.set_rc(2, 1500)
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self.wait_distance_to_location(ttl, 0, acc, timeout=15)
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self.set_rc(1, 2000)
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self.wait_distance_to_location(tr, 0, acc, timeout=10)
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self.set_rc(1, 1500)
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self.wait_distance_to_location(ttr, 0, acc, timeout=15)
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self.change_mode('RTL')
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self.wait_distance_to_location(bl, 0, 0.5, timeout=30, minimum_duration=5) # make sure it can hold position
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self.change_mode('MANUAL')
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self.wait_distance_to_location(bl, 0, acc, timeout=5) # make sure we haven't moved from the spot
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self.set_rc(3, 2000)
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self.wait_altitude(5, 5.5, relative=True, timeout=15)
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self.set_rc(3, 1500)
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self.wait_distance_to_location(bl, 0, acc, timeout=5) # make sure we haven't moved from the spot
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self.set_rc(4, 1000)
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self.wait_heading(340, accuracy=5, timeout=5) # short timeout to check yawrate
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self.set_rc(4, 1500)
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self.wait_distance_to_location(bl, 0, acc, timeout=5) # make sure we haven't moved from the spot
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self.set_rc(3, 1000)
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self.wait_altitude(0, 0.5, relative=True, timeout=20)
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self.set_rc(3, 1500)
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self.wait_distance_to_location(bl, 0, acc, timeout=5) # make sure we haven't moved from the spot
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self.set_rc(4, 2000)
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self.wait_heading(135, accuracy=5, timeout=10) # short timeout to check yawrate
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self.set_rc(4, 1500)
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self.wait_distance_to_location(bl, 0, acc, timeout=5) # make sure we haven't moved from the spot
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self.disarm_vehicle()
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def FlyLoiter(self):
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'''test loiter mode'''
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self.change_mode('LOITER')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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siz = 5
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tim = 60
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# make sure we don't drift:
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bl = self.mav.location()
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tl = self.offset_location_ne(location=bl, metres_north=siz, metres_east=0)
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tr = self.offset_location_ne(location=bl, metres_north=siz, metres_east=siz)
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br = self.offset_location_ne(location=bl, metres_north=0, metres_east=siz)
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print("Locations are:")
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print("bottom left ", bl.lat, bl.lng)
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print("top left ", tl.lat, tl.lng)
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print("top right ", tr.lat, tr.lng)
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print("bottom right ", br.lat, br.lng)
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if self.mavproxy is not None:
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self.mavproxy.send(f"map icon {bl.lat} {bl.lng} flag\n")
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self.mavproxy.send(f"map icon {tl.lat} {tl.lng} flag\n")
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self.mavproxy.send(f"map icon {tr.lat} {tr.lng} flag\n")
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self.mavproxy.send(f"map icon {br.lat} {br.lng} flag\n")
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self.set_parameter("SIMPLE_MODE", 1)
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self.set_rc(2, 2000)
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self.wait_distance_to_location(tl, 0, 0.2, timeout=tim)
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self.set_rc(2, 1500)
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self.set_rc(1, 2000)
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self.wait_distance_to_location(tr, 0, 0.5, timeout=tim)
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self.set_rc(1, 1500)
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self.set_rc(2, 1000)
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self.wait_distance_to_location(br, 0, 0.5, timeout=tim)
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self.set_rc(2, 1500)
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self.set_rc(1, 1000)
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self.wait_distance_to_location(bl, 0, 0.5, timeout=tim)
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self.set_rc(1, 1500)
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fin = self.mav.location()
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self.set_rc(4, 1700)
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self.wait_heading(135, accuracy=2, timeout=tim)
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self.set_rc(4, 1500)
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self.wait_distance_to_location(fin, 0, 0.15, timeout=5) # make sure we haven't moved from the spot
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self.set_rc(3, 2000)
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self.wait_altitude(5, 5.5, relative=True, timeout=60)
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self.set_rc(3, 1000)
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self.wait_altitude(0, 0.5, relative=True, timeout=60)
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self.set_rc(3, 1500)
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self.wait_distance_to_location(fin, 0, 0.15, timeout=5) # make sure we haven't moved from the spot
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self.set_rc(4, 1300)
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self.wait_heading(0, accuracy=2, timeout=tim)
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self.set_rc(4, 1500)
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self.wait_distance_to_location(fin, 0, 0.15, timeout=5) # make sure we haven't moved from the spot
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self.disarm_vehicle()
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def tests(self):
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@ -122,7 +242,8 @@ class AutoTestBlimp(AutoTest):
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# ret = super(AutoTestBlimp, self).tests()
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ret = []
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ret.extend([
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self.Speed,
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self.FlyManual,
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self.FlyLoiter,
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])
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return ret
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@ -163,6 +163,10 @@ for t in $CI_BUILD_TARGET; do
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run_autotest "Sub" "build.Sub" "test.Sub"
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continue
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fi
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if [ "$t" == "sitltest-blimp" ]; then
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run_autotest "Blimp" "build.Blimp" "test.Blimp"
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continue
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fi
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if [ "$t" == "unit-tests" ]; then
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run_autotest "Unit Tests" "build.unit_tests" "run.unit_tests"
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@ -267,7 +271,7 @@ for t in $CI_BUILD_TARGET; do
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$waf bootloader
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continue
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fi
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if [ "$t" == "stm32f7" ]; then
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echo "Building mRoX21-777/"
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$waf configure --Werror --board mRoX21-777
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@ -339,7 +343,7 @@ for t in $CI_BUILD_TARGET; do
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$waf tests
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continue
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fi
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if [ "$t" == "fmuv2-plane" ]; then
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echo "Building fmuv2 plane"
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$waf configure --board fmuv2
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@ -367,11 +371,11 @@ for t in $CI_BUILD_TARGET; do
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if [ "$t" == "replay" ]; then
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echo "Building replay"
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$waf configure --board sitl --debug --disable-scripting
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$waf replay
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echo "Building AP_DAL standalone test"
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$waf configure --board sitl --debug --disable-scripting --no-gcs
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$waf --target tool/AP_DAL_Standalone
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$waf clean
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continue
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@ -407,7 +411,7 @@ for t in $CI_BUILD_TARGET; do
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./Tools/scripts/build_bootloaders.py --signing-key testkey_public_key.dat MatekL431-DShot
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continue
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fi
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if [ "$t" == "python-cleanliness" ]; then
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echo "Checking Python code cleanliness"
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./Tools/scripts/run_flake8.py
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