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autotest: use internal simulator for copter test

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This commit is contained in:
Andrew Tridgell 2015-05-05 16:32:14 +10:00
parent 209896afc7
commit d5b51f2129
1 changed files with 7 additions and 34 deletions
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41
Tools/autotest/arducopter.py
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@ -911,17 +911,9 @@ def fly_ArduCopter(viewerip=None, map=False):
if TARGET != 'sitl':
util.build_SIL('ArduCopter', target=TARGET)
sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_wrapper.py') + ' --frame=%s --speedup=100 --rate=400 --home=%f,%f,%u,%u' % (
FRAME, HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sim_cmd += ' --wind=6,45,.3'
if viewerip:
sim_cmd += ' --fgout=%s:5503' % viewerip
sil = util.start_SIL('ArduCopter', wipe=True)
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sil = util.start_SIL('ArduCopter', wipe=True, model='+', home=home, speedup=10)
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
sim.delaybeforesend = 0
util.pexpect_autoclose(sim)
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
@ -931,9 +923,8 @@ def fly_ArduCopter(viewerip=None, map=False):
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
util.pexpect_close(sim)
sil = util.start_SIL('ArduCopter', height=HOME.alt)
sil = util.start_SIL('ArduCopter', model='+', home=home, speedup=10)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
@ -944,10 +935,6 @@ def fly_ArduCopter(viewerip=None, map=False):
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
sim.delaybeforesend = 0
util.pexpect_autoclose(sim)
buildlog = util.reltopdir("../buildlogs/ArduCopter-test.tlog")
print("buildlog=%s" % buildlog)
copyTLog = False
@ -966,7 +953,7 @@ def fly_ArduCopter(viewerip=None, map=False):
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sim, sil, mavproxy])
expect_list_extend([sil, mavproxy])
# get a mavlink connection going
try:
@ -1247,7 +1234,6 @@ def fly_ArduCopter(viewerip=None, map=False):
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
util.pexpect_close(sim)
if os.path.exists('ArduCopter-valgrind.log'):
os.chmod('ArduCopter-valgrind.log', 0644)
@ -1272,16 +1258,9 @@ def fly_CopterAVC(viewerip=None, map=False):
if TARGET != 'sitl':
util.build_SIL('ArduCopter', target=TARGET)
sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_wrapper.py') + ' --frame=%s --rate=400 --speedup=100 --home=%f,%f,%u,%u' % (
FRAME, AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
if viewerip:
sim_cmd += ' --fgout=%s:5503' % viewerip
sil = util.start_SIL('ArduCopter', wipe=True)
home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
sil = util.start_SIL('ArduCopter', wipe=True, model='+', home=home, speedup=10)
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
sim.delaybeforesend = 0
util.pexpect_autoclose(sim)
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
@ -1291,7 +1270,6 @@ def fly_CopterAVC(viewerip=None, map=False):
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
util.pexpect_close(sim)
sil = util.start_SIL('ArduCopter', height=HOME.alt)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
@ -1304,10 +1282,6 @@ def fly_CopterAVC(viewerip=None, map=False):
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
sim.delaybeforesend = 0
util.pexpect_autoclose(sim)
buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog")
print("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
@ -1324,7 +1298,7 @@ def fly_CopterAVC(viewerip=None, map=False):
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sim, sil, mavproxy])
expect_list_extend([sil, mavproxy])
if map:
mavproxy.send('map icon 40.072467969730496 -105.2314389590174\n')
@ -1379,7 +1353,6 @@ def fly_CopterAVC(viewerip=None, map=False):
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
util.pexpect_close(sim)
if failed:
print("FAILED: %s" % failed_test_msg)