aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Tools: various fixes for Copter tests

Browse Source 
Tools: correct altitude check

Tools: correct tests syntax

Tools: add autotest syntax check on common

Tools: search for syntax mistake on autotest lambda

Tools: put copter in hover trottle to prevent crash

Tools: reboot after baterry failsafe test

Tools: copter takeoff wait_ready_to_arm before arming

Tools: arm copter after land on RTL

Tools: reset copter battery voltage after battery failsafe
This commit is contained in:
Pierre Kancir 2018-08-20 17:47:58 +02:00 committed by Peter Barker
parent f536c53fa6
commit cc8aca1619
7 changed files with 45 additions and 18 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
Tools/autotest/apmrover2.py
View File

@ -622,6 +622,7 @@ class AutoTestRover(AutoTest):
def autotest(self):
"""Autotest APMrover2 in SITL."""
self.check_test_syntax(test_file=os.path.realpath(__file__))
if not self.hasInit:
self.init()
self.progress("Started simulator")

34
Tools/autotest/arducopter.py
View File

@ -148,6 +148,8 @@ class AutoTestCopter(AutoTest):
self.mavproxy.send('switch 6\n') # stabilize mode
self.wait_mode('STABILIZE')
if arm:
self.progress("Waiting reading for arm")
self.wait_ready_to_arm()
self.set_rc(3, 1000)
self.arm_vehicle()
self.set_rc(3, takeoff_throttle)
@ -318,6 +320,7 @@ class AutoTestCopter(AutoTest):
if time_left < 20:
time_left = 20
self.wait_altitude(-10, 10, time_left, relative=True)
self.set_rc(3, 1500)
self.save_wp()
# enter RTL mode and wait for the vehicle to disarm
@ -356,7 +359,8 @@ class AutoTestCopter(AutoTest):
self.set_rc(4, 1500)
# raise throttle slightly to avoid hitting the ground
self.set_rc(3, 1600)
self.set_rc(3, 1800)
self.wait_altitude(20, 25, relative=True)
# switch to stabilize mode
self.mavproxy.send('switch 6\n')
@ -376,7 +380,7 @@ class AutoTestCopter(AutoTest):
tstart = self.get_sim_time()
while self.get_sim_time() < tstart + timeout:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
alt = m.alt / 1000.0 # mm -> m
alt = m.relative_alt / 1000.0 # mm -> m
pos = self.mav.location()
home_distance = self.get_distance(HOME, pos)
self.progress("Alt: %u HomeDist: %.0f" % (alt, home_distance))
@ -423,8 +427,10 @@ class AutoTestCopter(AutoTest):
# disable battery failsafe
self.set_parameter('BATT_FS_LOW_ACT', 0)
self.set_parameter('SIM_BATT_VOLTAGE', 13)
self.progress("Successfully entered LAND after battery failsafe")
self.reboot_sitl()
# fly_stability_patch - fly south, then hold loiter within 5m
# position and altitude and reduce 1 motor to 60% efficiency
@ -1143,7 +1149,7 @@ class AutoTestCopter(AutoTest):
return True
def fly_mission(self,):
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)
@ -1155,6 +1161,7 @@ class AutoTestCopter(AutoTest):
# 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'''
@ -1697,6 +1704,7 @@ class AutoTestCopter(AutoTest):
def autotest(self):
"""Autotest ArduCopter in SITL."""
self.check_test_syntax(test_file=os.path.realpath(__file__))
if not self.hasInit:
self.init()
@ -1763,43 +1771,39 @@ class AutoTestCopter(AutoTest):
self.progress("save_mission_to_file failed")
# fly the stored mission
self.run_test("Fly CH7 saved mission",
lambda: self.fly_mission)
self.run_test("Fly CH7 saved mission", self.fly_mission)
# Throttle Failsafe
self.run_test("Test Failsafe",
lambda: self.fly_throttle_failsafe)
self.run_test("Test Failsafe", self.fly_throttle_failsafe)
# Takeoff
self.run_test("Takeoff to test battery failsafe",
lambda: self.takeoff(10))
# Battery failsafe
self.run_test("Fly Battery Failsafe",
lambda: self.fly_battery_failsafe)
self.run_test("Fly Battery Failsafe", self.fly_battery_failsafe)
# Takeoff
self.run_test("Takeoff to test stability patch",
lambda: self.takeoff(10))
lambda: self.takeoff(10, arm=True))
# Stability patch
self.run_test("Fly stability patch",
lambda: self.fly_stability_patch(30))
# RTL
self.run_test("RTL after stab patch", lambda: self.fly_RTL)
self.run_test("RTL after stab patch", self.fly_RTL)
# Takeoff
self.run_test("Takeoff to test horizontal fence",
lambda: self.takeoff(10))
lambda: self.takeoff(10, arm=True))
# Fence test
self.run_test("Test horizontal fence",
lambda: self.fly_fence_test(180))
# Fence test
self.run_test("Test Max Alt Fence",
lambda: self.fly_alt_max_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",
@ -1823,7 +1827,7 @@ class AutoTestCopter(AutoTest):
self.fly_gps_glitch_auto_test)
# Takeoff
self.run_test("Takeoff to test loiter", lambda: self.takeoff(10))
self.run_test("Takeoff to test loiter", lambda: self.takeoff(10, arm=True))
# Loiter for 10 seconds
self.run_test("Test Loiter for 10 seconds", self.loiter)

1
Tools/autotest/arduplane.py
View File

@ -531,6 +531,7 @@ class AutoTestPlane(AutoTest):
def autotest(self):
"""Autotest ArduPlane in SITL."""
self.check_test_syntax(test_file=os.path.realpath(__file__))
if not self.hasInit:
self.init()

1
Tools/autotest/ardusub.py
View File

@ -132,6 +132,7 @@ class AutoTestSub(AutoTest):
def autotest(self):
"""Autotest ArduSub in SITL."""
self.check_test_syntax(test_file=os.path.realpath(__file__))
if not self.hasInit:
self.init()

1
Tools/autotest/balancebot.py
View File

@ -49,6 +49,7 @@ class AutoTestBalanceBot(AutoTestRover):
def autotest(self):
"""Autotest APMrover2 in SITL."""
self.check_test_syntax(test_file=os.path.realpath(__file__))
if not self.hasInit:
self.init()
self.progress("Started simulator")

24
Tools/autotest/common.py
View File

@ -970,9 +970,7 @@ class AutoTest(ABC):
self.mav.idle_hooks.append(self.idle_hook)
def run_test(self, desc, function, interact=False):
self.progress("#")
self.progress("########## %s ##########" % (desc))
self.progress("#")
self.start_test(desc)
try:
function()
@ -985,6 +983,26 @@ class AutoTest(ABC):
return
self.progress('PASSED: "%s"' % desc)
def check_test_syntax(self, test_file):
"""Check mistake on autotest function syntax."""
import re
self.start_test("Check for syntax mistake in autotest lambda")
if not os.path.isfile(test_file):
self.progress("File %s does not exist" % test_file)
test_file = test_file.rstrip('c')
try:
with open(test_file) as f:
# check for lambda: test_function without paranthesis
faulty_strings = re.findall(r"lambda\s*:\s*\w+.\w+\s*\)", f.read())
if faulty_strings:
self.progress("Syntax error in autotest lamda at : ")
print(faulty_strings)
raise ErrorException()
except ErrorException:
self.progress('FAILED: "%s"' % "Check for syntax mistake in autotest lambda")
exit(1)
self.progress('PASSED: "%s"' % "Check for syntax mistake in autotest lambda")
@abc.abstractmethod
def init(self):
"""Initilialize autotest feature."""

1
Tools/autotest/quadplane.py
View File

@ -131,6 +131,7 @@ class AutoTestQuadPlane(AutoTest):
def autotest(self):
"""Autotest QuadPlane in SITL."""
self.check_test_syntax(test_file=os.path.realpath(__file__))
if not self.hasInit:
self.init()