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autotest: improve error checking

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This commit is contained in:
Andrew Tridgell 2011-11-10 13:12:43 +11:00
parent 6263bb8936
commit e7294ee493
1 changed files with 34 additions and 15 deletions
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49
Tools/autotest/arducopter.py
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@ -91,6 +91,7 @@ def arm_motors(mavproxy):
mavproxy.expect('APM: ARMING MOTORS')
mavproxy.send('rc 4 1500\n')
print("MOTORS ARMED OK")
return True
def disarm_motors(mavproxy):
'''disarm motors'''
@ -101,6 +102,7 @@ def disarm_motors(mavproxy):
mavproxy.expect('APM: DISARMING MOTORS')
mavproxy.send('rc 4 1500\n')
print("MOTORS DISARMED OK")
return True
def takeoff(mavproxy, mav):
@ -110,6 +112,7 @@ def takeoff(mavproxy, mav):
mavproxy.send('rc 3 1500\n')
wait_altitude(mav, 30, 40)
print("TAKEOFF COMPLETE")
return True
def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
@ -186,6 +189,7 @@ def fly_square(mavproxy, mav, side=50, timeout=120):
mavproxy.send('switch 6\n')
mavproxy.expect('STABILIZE>')
tstart = time.time()
failed = False
mavproxy.send('rc 3 1430\n')
mavproxy.send('rc 4 1610\n')
if not wait_heading(mav, 0):
@ -194,24 +198,28 @@ def fly_square(mavproxy, mav, side=50, timeout=120):
print("Going north %u meters" % side)
mavproxy.send('rc 2 1390\n')
ok = wait_distance(mav, side)
if not wait_distance(mav, side):
failed = True
mavproxy.send('rc 2 1500\n')
print("Going east %u meters" % side)
mavproxy.send('rc 1 1610\n')
ok = wait_distance(mav, side)
if not wait_distance(mav, side):
failed = True
mavproxy.send('rc 1 1500\n')
print("Going south %u meters" % side)
mavproxy.send('rc 2 1610\n')
ok = wait_distance(mav, side)
if not wait_distance(mav, side):
failed = True
mavproxy.send('rc 2 1500\n')
print("Going west %u meters" % side)
mavproxy.send('rc 1 1390\n')
ok = wait_distance(mav, side)
if not wait_distance(mav, side):
failed = True
mavproxy.send('rc 1 1500\n')
return ok
return not failed
@ -249,8 +257,11 @@ def fly_mission(mavproxy, mav, filename, height_accuracy=-1, target_altitude=Non
mavproxy.expect('Requesting [0-9]+ waypoints')
mavproxy.send('switch 1\n') # auto mode
mavproxy.expect('AUTO>')
wait_distance(mav, 30, timeout=120)
wait_location(mav, homeloc, timeout=600, target_altitude=target_altitude, height_accuracy=height_accuracy)
if not wait_distance(mav, 30, timeout=120):
return False
if not wait_location(mav, homeloc, timeout=600, target_altitude=target_altitude, height_accuracy=height_accuracy):
return False
return True
def setup_rc(mavproxy):
@ -324,15 +335,23 @@ def fly_ArduCopter():
mav.recv_match(type='GPS_RAW', blocking=True)
setup_rc(mavproxy)
homeloc = current_location(mav)
arm_motors(mavproxy)
takeoff(mavproxy, mav)
fly_square(mavproxy, mav)
loiter(mavproxy, mav)
land(mavproxy, mav)
if not arm_motors(mavproxy):
failed = True
if not takeoff(mavproxy, mav):
failed = True
if not fly_square(mavproxy, mav):
failed = True
if not loiter(mavproxy, mav):
failed = True
if not land(mavproxy, mav):
failed = True
#fly_mission(mavproxy, mav, os.path.join(testdir, "mission_ttt.txt"), height_accuracy=0.2)
fly_mission(mavproxy, mav, os.path.join(testdir, "mission1.txt"), height_accuracy = 0.5, target_altitude=10)
land(mavproxy, mav)
disarm_motors(mavproxy)
if not fly_mission(mavproxy, mav, os.path.join(testdir, "mission1.txt"), height_accuracy = 0.5, target_altitude=10):
failed = True
if not land(mavproxy, mav):
failed = True
if not disarm_motors(mavproxy):
failed = True
except pexpect.TIMEOUT, e:
failed = True