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AutoTest: add circle mode test

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This commit is contained in:
Randy Mackay 2013-06-01 18:20:57 +09:00
parent 592062870e
commit da97c991f8
1 changed files with 55 additions and 13 deletions
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68
Tools/autotest/arducopter.py
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@ -425,23 +425,36 @@ def fly_simple(mavproxy, mav, side=100, timeout=120):
hover(mavproxy, mav)
return not failed
#fly_circle - flies a circle with 20m radius
def fly_circle(mavproxy, mav, maxaltchange=10, holdtime=75, timeout=125):
def land(mavproxy, mav, timeout=60):
'''land the quad'''
print("STARTING LANDING")
mavproxy.send('switch 2\n')
wait_mode(mav, 'LAND')
print("Entered Landing Mode")
ret = wait_altitude(mav, -5, 1)
print("LANDING: ok= %s" % ret)
return ret
'''hold loiter position'''
mavproxy.send('switch 5\n') # loiter mode
wait_mode(mav, 'LOITER')
# face west
print("turn west")
mavproxy.send('rc 4 1580\n')
if not wait_heading(mav, 270):
return False
mavproxy.send('rc 4 1500\n')
def circle(mavproxy, mav, maxaltchange=10, holdtime=90, timeout=35):
'''fly circle'''
print("FLY CIRCLE")
mavproxy.send('switch 1\n') # CIRCLE mode
#set CIRCLE radius
mavproxy.send('param set CIRCLE_RADIUS 30\n')
# fly forward (east) at least 100m
mavproxy.send('rc 2 1100\n')
if not wait_distance(mav, 100):
return False
# return pitch stick back to middle
mavproxy.send('rc 2 1500\n')
# set CIRCLE mode
mavproxy.send('switch 1\n') # circle mode
wait_mode(mav, 'CIRCLE')
# wait
m = mav.recv_match(type='VFR_HUD', blocking=True)
start_altitude = m.alt
tstart = time.time()
@ -454,6 +467,15 @@ def circle(mavproxy, mav, maxaltchange=10, holdtime=90, timeout=35):
print("CIRCLE OK for %u seconds" % holdtime)
return True
def land(mavproxy, mav, timeout=60):
'''land the quad'''
print("STARTING LANDING")
mavproxy.send('switch 2\n')
wait_mode(mav, 'LAND')
print("Entered Landing Mode")
ret = wait_altitude(mav, -5, 1)
print("LANDING: ok= %s" % ret)
return ret
def fly_mission(mavproxy, mav, height_accuracy=-1, target_altitude=None):
'''fly a mission from a file'''
@ -737,6 +759,26 @@ def fly_ArduCopter(viewerip=None, map=False):
print("RTL failed")
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
print("takeoff failed")
failed = True
# Circle mode
print("# Fly CIRCLE mode")
if not fly_circle(mavproxy, mav):
print("fly_circle failed")
failed = True
# RTL
print("#")
print("########## Test RTL ##########")
print("#")
if not fly_RTL(mavproxy, mav):
print("RTL failed")
failed = True
# Fly mission #1
print("# Upload mission1")
if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission1.txt")):