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2432 Commits

Author SHA1 Message Date
James O'Shannessy
fa7be629e5 AutoTest: Make fence tests flake8 compliant 2021-03-05 14:52:46 +11:00
James O'Shannessy
01b27bdb61 AutoTest: revert change that breaks quadplane 2021-03-05 14:52:46 +11:00
James O'Shannessy
2353b55452 AutoTest: Address race conditions in changes to fence tests 2021-03-05 14:52:46 +11:00
James O'Shannessy
76a2a76b54 AutotTest: Adds autotests for Plane to test RetRally flag added to AC_Fence 2021-03-05 14:52:46 +11:00
James O'Shannessy
8545715837 AutoTest: Add Static Fence Tests for unallowed arming when breaching geofence 2021-03-05 14:52:46 +11:00
James O'Shannessy
6f7ba3b037 AutoTest: Ensure fence is disabled at end of throttle_failsafe_fence test 2021-03-05 14:52:46 +11:00
James O'Shannessy
6251b6eead AutoTest: Rebase and carry across changes from autotest 2021-03-05 14:52:46 +11:00
James O'Shannessy
b2346ef6df AutoTest: Adds additional tests to ArduCopter to test autoenable and floor 
Adds tests for:
* Testing auto-enable disabled (when no autoenabling of the fence is required)
* Test auto-enabled always after takeoff (when takeoff complete condition met)
* Test auto-enabled disable floor only (when land sequence begins)
* Test auto- on arm/disarm (when vehicle is armed/disarmed)
* Tests ability to land when fence is breached
 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
dd5ede0fe0 autotest: small comment improvements 2021-03-05 14:52:46 +11:00
James O'Shannessy
bbd606b8b5 AutoTest: Corrections to autotests 2021-03-05 14:52:46 +11:00
James O'Shannessy
a3efc9ad98 AutoTest: Fix MAVlite test allowing plane fence to be enabled 2021-03-05 14:52:46 +11:00
James O'Shannessy
47e76a1807 AutoTest: Move fence enable/disable to common location 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
528defd560 Autotest: activate the fence via a mavlink command 
This should not be required in the future, please fix this and revert this commit
 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
8d8753b14c Autotest: fix two copter tests after parameter rename 
I'm not sure if a better fix would be to remove the set_parameter() call
 2021-03-05 14:52:46 +11:00
James O'Shannessy
215901be30 Autotest: Correct the logic for fence based autotest functions 
Adds corrections to enabling fence using aux function.
Correctly test fences statically. Only uploaded fences can be checked using a fence file, so we check those first. Then we add steps to check tin can, max and minm all set the fence as present, as expected.
Plane will support MAV_PROTOCOL_CAPABILITY_MISSION_FENCE, so we assert that it does support it.
To test ceiling and floor, leverage some existing functions for takeoff, change altitude and land. Check for respective breach.
Add a floor breach check to copter.
 2021-03-05 14:52:46 +11:00
James O'Shannessy
1a3e168ced Autotest: Fence is present, but test looking for not present 
Autotest: Remove ties to mavlink FENCE_ACTION

Autotest: Add ArduPlane autotest to test ceiling and floor

Adds a test to ensure the vehicle reverts to RTL when breaching a ceiling or floor.

Autotest: Progress the test once we reach takeoff complete and fence enable

Autotest: Use RC_OPTION for Aux Switch functionality

Autotest: Enable fence last
 2021-03-05 14:52:46 +11:00
Paul Riseborough
d52594c576 Tools: Fix set_home autotest 
Don't try to get home until EKF has passed alignment and GPs checks.
Use a more realistic lat/lon offset threshold
 2021-03-05 12:10:01 +11:00
Peter Barker
4aed767fe9 autotest: add test for MAV_CMD_DO_SET_MISSION_CURRENT 2021-03-04 11:59:33 +11:00
Peter Barker
a235246628 autotest: correct units in new AHRS2 test 2021-03-03 18:41:14 +11:00
Pierre Kancir
ecc89411f9 Tools: put UART_chargen in skip list 2021-03-03 18:07:38 +11:00
Peter Barker
b3ee5d5f59 autotest: increase verbosity in AHRS2 test 2021-03-03 16:29:33 +11:00
Randy Mackay
a35a7e1523 Tools: autotest manual control test requires 12 deg 
adjusted down because of lower default angle_max
 2021-03-03 08:03:39 +09:00
Peter Barker
317181922c autotest: ensure we're getting vaguely sane data in AHRS2 message 2021-03-02 20:48:36 +11:00
Peter Barker
cc83562add autotest: tidy fence handling 2021-03-02 16:54:06 +11:00
Peter Barker
b2d4cefa85 autotest: change heli default RPM type to 10 
Change default to SITL
 2021-03-02 15:41:44 +11:00
Peter Barker
4d2cf8c95b AP_Frsky_SPort: correct handling of RPM sensor data 
Nails support down to just two RPM sensors for the time being.

Simplifies things (there was an issue here when I corrected RPM-in-SITL)
 2021-03-02 15:41:44 +11:00
Peter Barker
eb499ff731 autotest: improve frsky SPort test 
- reduces verbosity as we only check the remaining items when new data
received
 - reduces repoll interval and explains why we need to re-poll
 2021-03-02 15:41:44 +11:00
Peter Barker
7b251b6fd4 autotest: add diagnostics for frsky tests 2021-03-02 15:41:44 +11:00
Peter Barker
2671a2f71f autotest: fix up FRSky tests for running under Valgrind 2021-03-02 15:41:44 +11:00
Peter Barker
360512f6b0 autotest: preserve commandline customisations on reboot under valgrind 2021-03-02 15:41:44 +11:00
Peter Barker
fc9a93ba67 autotest: stop using mavproxy for clearing missions 2021-03-02 14:24:36 +11:00
Peter Barker
97e2596bf8 autotest: stop clearing mission at start of test 
These are implicitly cleared by the framework
 2021-03-02 14:24:36 +11:00
Peter Barker
973510a4ff autotest: push context after customising cmdline 
doing things in the other order causes problems when running the
complete suite
 2021-03-02 14:24:36 +11:00
Peter Barker
5d1e105534 autotest: allow more time for mission upload and download 
We upload some rather large missions....
 2021-03-02 14:24:36 +11:00
Peter Barker
10007e2e42 autotest: load missions natively rather than using MAVProxy 2021-03-02 14:24:36 +11:00
Peter Barker
993d87469c autotest: move mission upload functions from rover to common 2021-03-02 14:24:36 +11:00
Peter Barker
34a52e9cfe autotest: use wait_statustext in place of mavproxy.expect for autorotate test 2021-03-02 13:34:09 +11:00
Peter Barker
0daa1a63d3 autotest: remove pointless fetch_parameters call 
And the entire method, replace with equivalent test
 2021-03-01 17:27:52 +11:00
nkruzan
3e0f9ab4e7 Tools:autotest\common.py fix text typo 2021-03-01 15:15:38 +11:00
Peter Barker
61138f342a autotest: do not time out receiving of heartbeat if running gdb 
pausing indefinitely when running GDB is OK.
 2021-03-01 13:44:23 +11:00
Peter Barker
1f47698076 autotest: use change_mode in place of mavproxy.send 2021-03-01 13:10:09 +11:00
Peter Barker
d3b3c443bc autotest: reset copter completely after autotune test 2021-02-25 10:49:58 +11:00
Peter Barker
013415eb31 autotest: make and mark arducopter.py as flake8-compliant 2021-02-24 15:10:10 +11:00
Peter Barker
79f21ed639 autotest: add test for GSF logging 2021-02-23 12:36:33 +11:00
Peter Barker
9d681eecc4 autotest: move to state outside when we leave log structure 
No vertical whitespace allowed in the structures...

We concatenate all of the LogStructure files; without this we remain in
state_inside and try to parse every line in the concatenation as if it
were a log structure definition
 2021-02-23 12:36:33 +11:00
Peter Barker
44ec74030e autotest: recover from flip in althold to remove stabilise throttle problem 2021-02-21 23:11:26 +11:00
Peter Barker
a4a5d52c35 autotest: extend time allowed for RTL for simplemode test 2021-02-21 22:45:06 +11:00
Peter Barker
9120882e9e autotest: print name of open dataflash log when test exception caught 
The stack trace is already extremely useful... but mapping back to the
relevant dataflash log is a bit of a pain.

Adding more stuff to this method in the future might be good, too.
 2021-02-21 21:35:35 +11:00
Peter Barker
adf44f3b2b autotest: make and declare sim_vehicle.py flake8-clean 2021-02-21 21:35:17 +11:00
Peter Barker
98451e499a autotest: make and declare balancebot flake8-clean 2021-02-21 21:35:17 +11:00
Peter Barker
b5f490aff4 autotest: make fly_proximity_avoidance_test_alt_no_avoid more reliable 2021-02-21 17:44:10 +11:00
Peter Barker
d4aef2dba8 autotest: stop using MAVProxy to change mode 2021-02-20 00:03:24 +11:00
Peter Barker
05c9b79a5e autotest: make and declare quadplane.py flake8-clean 2021-02-20 00:02:33 +11:00
Peter Barker
c13d229877 autotest: use self.set_current_waypoint rather than "wp set" to set current wp 2021-02-19 12:25:40 +11:00
Peter Barker
148e2e751f autotest: add set_current_waypoint 2021-02-19 12:25:40 +11:00
Peter Barker
b7044d3708 autotest: remove use of global expect_list 2021-02-18 18:18:30 +11:00
Peter Barker
2d17f019b6 autotest: remove pointless manipulation of expect list 
start_sitl and start_mavproxy already do this stuff
 2021-02-18 18:18:30 +11:00
Peter Barker
dcc04ccd09 autotest: stop using MAVProxy to change modes 2021-02-18 17:38:52 +11:00
Peter Barker
2c1df16442 autotest: increase button message timeout to allow for Valgrind speed 2021-02-18 17:04:16 +11:00
Peter Barker
ad06a616b8 autotest: adjust for low log transfer rate under valgrind 2021-02-18 17:04:16 +11:00
Peter Barker
bcc1cb9dbb autotest: use get_parameter in place of mav's param object 
This is the only place in the code that does this
 2021-02-18 15:06:26 +11:00
Peter Barker
b1ccf3b3f8 autotest: add test for rangefinder-based proximity avoidance enablement 2021-02-18 15:05:51 +11:00
Peter Barker
3cf1b9444f autotest: get_sim_time_cached in NMEA output test to stop losing msgs 2021-02-18 11:26:22 +11:00
Peter Barker
ce61f44505 autotest: reset SITL commandline after fetching unhidden parameters 
this makes a difference under Valgrind, which has to reboot slightly differently to normal SITL
 2021-02-18 11:26:22 +11:00
Peter Barker
e221e6ce45 autotest: flake8 compliance for ardusub.py 2021-02-18 10:43:05 +11:00
Peter Barker
628a3843b2 autotest: flake8 compliance for arduplane.py 2021-02-18 10:43:05 +11:00
Peter Barker
78aa729b90 autotest: flake8 compliance for common.py 2021-02-18 10:43:05 +11:00
Peter Barker
4c56ac7eb3 autotest: flake8 compliance for antennatracker.py 2021-02-18 10:43:05 +11:00
Peter Barker
726f54e37f autotest: flake8 compliance for rover.py 2021-02-18 10:43:05 +11:00
Peter Barker
e3887c8d93 autotest: make and mark autotest.py flake8-clean 2021-02-18 10:43:05 +11:00
Peter Barker
33fee211a4 autotest: extend pexpect timeouts when running under Valgrind 2021-02-17 18:16:04 +11:00
Peter Barker
a292fe1b8b autotest: use wait_statustext rather than mavproxy.expect 
This is important when running under Valgrind as the text can be
significantly delayed.  wait_statustext times out in simulation time,
whereas mavproxy.expect has a flat 60s timeout
 2021-02-17 18:16:04 +11:00
Peter Barker
c00a82868e autotest: make DLVR sole airspeed sensor in test 
The test wasn't actually *using* the DLVR...
 2021-02-17 14:23:07 +11:00
Peter Barker
dbdda65956 autotest: add basic test for GPS blending 2021-02-17 11:30:01 +11:00
Peter Barker
1ca0998f32 Tools: take MAV_CMD_DO_SPRAYER as a mavlink command 2021-02-16 22:36:43 +11:00
Peter Barker
b14dcf4bae Tools: add mission command to turn sprayer on and off 2021-02-16 22:36:43 +11:00
Peter Barker
be8f747b7a autotest: adjust timeout for Valgrind; disable for gdb 2021-02-16 13:18:41 +11:00
Peter Barker
ca49f62b6d autotest: add test for Plane's RTL_CLIMB_MIN parameter 2021-02-13 19:34:52 +11:00
Peter Barker
e4d5a92721 autotest: add wait_distance_to_nav_target method 2021-02-13 19:34:52 +11:00
Peter Barker
d60fa86026 autotest: use set_map_from_rc more 2021-02-13 19:34:52 +11:00
Peter Barker
a5706a18af autotest: handle Py2 not having ConnectionResetError built in 2021-02-12 18:24:18 +11:00
Iampete1
904b493809 Tools: autotest, common.py remove extra comma 2021-02-11 09:20:15 +11:00
Pierre Kancir
8396388af9 Tools: run_examples: add FlashTest to skip list 2021-02-10 18:49:42 +11:00
Peter Barker
4324d66c13 autotest: loosen time constraint on mavlink messages in magcal 
Saw an error where we didn't get one of these in 5 seconds.

That sounds like too much.  But we'll loosen the constrain anyway
 2021-02-10 09:28:45 +11:00
Peter Barker
bd8384b322 autotest: break out a get_altitude method 2021-02-10 09:28:25 +11:00
Alessandro Apostoli
e2aaf4c216 Tools: autotest, fix for frsky not defined error (#4) 2021-02-10 09:27:58 +11:00
Peter Barker
d9dd93bcdd autotest: don't run frsky tests armed for the most part 2021-02-10 09:27:58 +11:00
Peter Barker
742d5a9fa0 autotest: add body_frame_velocity 2021-02-08 22:44:32 +11:00
Randy Mackay
f20fc28a85 Tools: param files to ease SITL setup of GPS-for-yaw 2021-02-05 17:22:27 +09:00
Randy Mackay
a09bdcdda1 Tools: default param file to ease using copter SITL with vicon 2021-02-04 20:21:00 +09:00
Peter Barker
567e9733b6 autotest: augment bisect-helper.py to help with flapping tests 
- option to allow for a string which must be present in the outout
 - option for strings which must not be present in the output
 - repeat option so test must pass many times
 - elaborate diagnostic output
 - option to run under Valgrind (to provoke races)

The output from each test run is poked into a directory in /tmp

The number of runs a test took to fail is poked into a different file in /tmp, helping to tune the --autotest-test-passes parameter
 2021-02-04 16:22:28 +11:00
Peter Barker
c2e310d75f autotest: add test for OBSTACLE_DISTANCE_3D message 2021-02-04 15:50:45 +11:00
Peter Barker
393ec5d6f7 autotest: add test for MAVProxy proximity sensor 2021-02-04 12:03:35 +11:00
Peter Barker
cdaff74948 autotest: stop trying to arm in QRTL 2021-02-03 18:22:10 +11:00
Peter Barker
f65bee80dc autotest: use BATTERY_STATUS to detect sub reboot 
Sub doesn't implement AP_Stats so we have custom reboot detection for
it.

The current look-for-string strategy is flawed - we're missing the
string on reboot
 2021-02-03 13:58:17 +11:00
Pierre Kancir
e13a35abc1 Autotest: check for empty message before trying to use it 2021-02-03 12:56:01 +11:00
yaapu
bb576a49b8 Tools: added autotest for frsky rpm telemetry 2021-02-03 12:49:38 +11:00
Samuel Tabor
d1578e5ba2 autotest: Update soaring default params in line with specified SOAR_THML_BANK. 2021-01-29 11:20:09 -08:00
Pierre Kancir
c02dfd1214 Autotest: add EndMissionBehavior Test for rover 2021-01-27 08:23:52 +09:00
Pierre Kancir
2b71bf8e99 Autotest: fix subtests completion 2021-01-27 08:27:54 +11:00