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Tools: fix arm_motors_with_rc_input and disarm_motors_with_rc_input

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This commit is contained in:
Pierre Kancir 2018-09-17 16:50:30 +02:00 committed by Peter Barker
parent 9b7e406a55
commit d37a74f46a
1 changed files with 57 additions and 13 deletions
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70
Tools/autotest/common.py
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@ -445,6 +445,46 @@ class AutoTest(ABC):
else:
self.set_rc(3, 1000)
def set_output_to_max(self, chan):
"""Set output to max with RC Radio taking into account REVERSED parameter."""
is_reversed = self.get_parameter("RC%u_REVERSED" % chan)
out_max = int(self.get_parameter("RC%u_MAX" % chan))
out_min = int(self.get_parameter("RC%u_MIN" % chan))
if is_reversed == 0:
self.set_rc(chan, out_max)
else:
self.set_rc(chan, out_min)
def set_output_to_min(self, chan):
"""Set output to min with RC Radio taking into account REVERSED parameter."""
is_reversed = self.get_parameter("RC%u_REVERSED" % chan)
out_max = int(self.get_parameter("RC%u_MAX" % chan))
out_min = int(self.get_parameter("RC%u_MIN" % chan))
if is_reversed == 0:
self.set_rc(chan, out_min)
else:
self.set_rc(chan, out_max)
def set_output_to_trim(self, chan):
"""Set output to trim with RC Radio."""
out_trim = int(self.get_parameter("RC%u_TRIM" % chan))
self.set_rc(chan, out_trim)
def get_rudder_channel(self):
if self.mav.mav_type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
mavutil.mavlink.MAV_TYPE_HELICOPTER,
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
mavutil.mavlink.MAV_TYPE_COAXIAL,
mavutil.mavlink.MAV_TYPE_TRICOPTER]:
return int(self.get_parameter("RCMAP_YAW"))
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_FIXED_WING:
return int(self.get_parameter("RCMAP_YAW"))
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_GROUND_ROVER:
return int(self.get_parameter("RCMAP_ROLL"))
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_SUBMARINE:
raise ErrorException("Arming with rudder is not supported by Submarine")
def armed(self):
"""Return true if vehicle is armed and safetyoff"""
return self.mav.motors_armed()
@ -511,36 +551,36 @@ class AutoTest(ABC):
"""Arm motors with radio."""
self.progress("Arm motors with radio")
self.set_throttle_zero()
self.mavproxy.send('rc 1 2000\n')
self.set_output_to_max(self.get_rudder_channel())
tstart = self.get_sim_time()
while self.get_sim_time() < tstart + timeout:
self.mav.wait_heartbeat()
if not self.mav.motors_armed():
if self.mav.motors_armed():
arm_delay = self.get_sim_time() - tstart
self.progress("MOTORS ARMED OK WITH RADIO")
self.mavproxy.send('rc 1 1500\n')
self.set_output_to_trim(self.get_rudder_channel())
self.progress("Arm in %ss" % arm_delay) # TODO check arming time
return True
self.progress("FAILED TO ARM WITH RADIO")
self.mavproxy.send('rc 1 1500\n')
self.set_output_to_trim(self.get_rudder_channel())
return False
def disarm_motors_with_rc_input(self, timeout=20):
"""Disarm motors with radio."""
self.progress("Disarm motors with radio")
self.set_throttle_zero()
self.mavproxy.send('rc 1 1000\n')
self.set_output_to_min(self.get_rudder_channel())
tstart = self.get_sim_time()
while self.get_sim_time() < tstart + timeout:
self.mav.wait_heartbeat()
if not self.mav.motors_armed():
disarm_delay = self.get_sim_time() - tstart
self.progress("MOTORS DISARMED OK WITH RADIO")
self.mavproxy.send('rc 1 1500\n')
self.set_output_to_trim(self.get_rudder_channel())
self.progress("Disarm in %ss" % disarm_delay) # TODO check disarming time
return True
self.progress("FAILED TO DISARM WITH RADIO")
self.mavproxy.send('rc 1 1500\n')
self.set_output_to_trim(self.get_rudder_channel())
return False
def autodisarm_motors(self):
@ -1211,6 +1251,8 @@ class AutoTest(ABC):
def test_arm_feature(self):
"""Common feature to test."""
self.context_push()
self.set_parameter("ARMING_RUDDER", 2)
# TEST ARMING/DISARM
if not self.arm_vehicle():
self.progress("Failed to ARM")
@ -1224,12 +1266,14 @@ class AutoTest(ABC):
if not self.mavproxy_disarm_vehicle():
self.progress("Failed to DISARM")
raise NotAchievedException()
if not self.arm_motors_with_rc_input():
raise NotAchievedException()
if not self.disarm_motors_with_rc_input():
raise NotAchievedException()
if not self.autodisarm_motors():
raise NotAchievedException()
if self.mav.mav_type != mavutil.mavlink.MAV_TYPE_SUBMARINE:
if not self.arm_motors_with_rc_input():
raise NotAchievedException()
if not self.disarm_motors_with_rc_input():
raise NotAchievedException()
if not self.autodisarm_motors():
raise NotAchievedException()
self.context_pop()
# TODO : add failure test : arming check, wrong mode; Test arming magic; Same for disarm
def test_gripper(self):