px4-firmware/test/mavsdk_tests/autopilot_tester.cpp

560 lines
20 KiB
C++
Raw Normal View History

2020-03-17 12:15:34 -03:00
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
2019-10-02 15:14:18 -03:00
#include "autopilot_tester.h"
#include <iostream>
#include <future>
std::string connection_url {"udp://"};
namespace
{
std::array<float, 3> get_local_mission_item(const Mission::MissionItem &item, const CoordinateTransformation &ct)
{
using GlobalCoordinate = mavsdk::geometry::CoordinateTransformation::GlobalCoordinate;
GlobalCoordinate global;
global.latitude_deg = item.latitude_deg;
global.longitude_deg = item.longitude_deg;
auto local = ct.local_from_global(global);
return {static_cast<float>(local.north_m), static_cast<float>(local.east_m), -item.relative_altitude_m};
}
float norm(const std::array<float, 3> &vec)
{
return std::sqrt(sq(vec[0]) + sq(vec[1]) + sq(vec[2]));
}
float dot(const std::array<float, 3> &vec1, const std::array<float, 3> &vec2)
{
return vec1[0] * vec2[0] + vec1[1] * vec2[1] + vec1[2] * vec2[2];
}
std::array<float, 3> diff(const std::array<float, 3> &vec1, const std::array<float, 3> &vec2)
{
return {vec1[0] - vec2[0], vec1[1] - vec2[1], vec1[2] - vec2[2]};
}
std::array<float, 3> normalized(const std::array<float, 3> &vec)
{
float n = norm(vec);
if (n > 1e-6f) {
return {vec[0] / n, vec[1] / n, vec[2] / n};
} else {
return {0, 0, 0};
}
}
float point_to_line_distance(const std::array<float, 3> &point, const std::array<float, 3> &line_start,
const std::array<float, 3> &line_end)
{
std::array<float, 3> norm_dir = normalized(diff(line_end, line_start));
float t = dot(norm_dir, diff(point, line_start));
// closest_on_line = line_start + t * norm_dir;
std::array<float, 3> closest_on_line { line_start[0] + t *norm_dir[0], line_start[1] + t *norm_dir[1], line_start[2] + t *norm_dir[2]};
return norm(diff(closest_on_line, point));
}
}
2019-10-02 15:14:18 -03:00
void AutopilotTester::connect(const std::string uri)
{
2020-03-17 12:15:34 -03:00
ConnectionResult ret = _mavsdk.add_any_connection(uri);
REQUIRE(ret == ConnectionResult::Success);
2019-10-02 15:14:18 -03:00
2020-03-17 12:15:34 -03:00
std::cout << "Waiting for system connect" << std::endl;
REQUIRE(poll_condition_with_timeout(
[this]() { return _mavsdk.is_connected(); }, std::chrono::seconds(25)));
2019-10-02 15:14:18 -03:00
2020-03-17 12:15:34 -03:00
auto &system = _mavsdk.system();
2019-10-02 15:14:18 -03:00
2020-03-17 12:15:34 -03:00
_action.reset(new Action(system));
_failure.reset(new Failure(system));
2020-03-17 12:15:34 -03:00
_mission.reset(new Mission(system));
_offboard.reset(new Offboard(system));
_param.reset(new Param(system));
_telemetry.reset(new Telemetry(system));
2019-10-02 15:14:18 -03:00
}
void AutopilotTester::wait_until_ready()
{
2020-03-17 12:15:34 -03:00
std::cout << "Waiting for system to be ready" << std::endl;
CHECK(poll_condition_with_timeout(
[this]() { return _telemetry->health_all_ok(); }, std::chrono::seconds(20)));
// FIXME: workaround to prevent race between PX4 switching to Hold mode
// and us trying to arm and take off. If PX4 is not in Hold mode yet,
// our arming presumably triggers a failsafe in manual mode.
std::this_thread::sleep_for(std::chrono::seconds(1));
2019-10-02 15:14:18 -03:00
}
void AutopilotTester::wait_until_ready_local_position_only()
{
2020-03-17 12:15:34 -03:00
std::cout << "Waiting for system to be ready" << std::endl;
CHECK(poll_condition_with_timeout(
[this]() {
return
(_telemetry->health().is_gyrometer_calibration_ok &&
_telemetry->health().is_accelerometer_calibration_ok &&
_telemetry->health().is_magnetometer_calibration_ok &&
_telemetry->health().is_level_calibration_ok &&
_telemetry->health().is_local_position_ok);
}, std::chrono::seconds(20)));
}
void AutopilotTester::store_home()
{
2020-03-17 12:15:34 -03:00
request_ground_truth();
std::cout << "Waiting to get home position" << std::endl;
CHECK(poll_condition_with_timeout(
[this]() {
_home = _telemetry->ground_truth();
return std::isfinite(_home.latitude_deg) && std::isfinite(_home.longitude_deg);
}, std::chrono::seconds(10)));
}
void AutopilotTester::check_home_within(float acceptance_radius_m)
{
2020-03-17 12:15:34 -03:00
CHECK(ground_truth_horizontal_position_close_to(_home, acceptance_radius_m));
}
2019-10-02 15:14:18 -03:00
void AutopilotTester::set_takeoff_altitude(const float altitude_m)
{
CHECK(Action::Result::Success == _action->set_takeoff_altitude(altitude_m));
2020-03-17 12:15:34 -03:00
const auto result = _action->get_takeoff_altitude();
CHECK(result.first == Action::Result::Success);
2020-03-17 12:15:34 -03:00
CHECK(result.second == Approx(altitude_m));
2019-10-02 15:14:18 -03:00
}
void AutopilotTester::arm()
{
2020-03-17 12:15:34 -03:00
const auto result = _action->arm();
REQUIRE(result == Action::Result::Success);
2019-10-02 15:14:18 -03:00
}
void AutopilotTester::takeoff()
{
2020-03-17 12:15:34 -03:00
const auto result = _action->takeoff();
REQUIRE(result == Action::Result::Success);
2019-10-02 15:14:18 -03:00
}
void AutopilotTester::land()
{
2020-03-17 12:15:34 -03:00
const auto result = _action->land();
REQUIRE(result == Action::Result::Success);
2019-10-02 15:14:18 -03:00
}
void AutopilotTester::transition_to_fixedwing()
{
2020-03-17 12:15:34 -03:00
const auto result = _action->transition_to_fixedwing();
REQUIRE(result == Action::Result::Success);
}
void AutopilotTester::transition_to_multicopter()
{
2020-03-17 12:15:34 -03:00
const auto result = _action->transition_to_multicopter();
REQUIRE(result == Action::Result::Success);
}
2020-05-05 06:42:06 -03:00
void AutopilotTester::wait_until_disarmed(std::chrono::seconds timeout_duration)
2019-10-02 15:14:18 -03:00
{
2020-03-17 12:15:34 -03:00
REQUIRE(poll_condition_with_timeout(
2020-05-05 06:42:06 -03:00
[this]() { return !_telemetry->armed(); }, timeout_duration));
2019-10-02 15:14:18 -03:00
}
void AutopilotTester::wait_until_hovering()
{
2020-03-17 12:15:34 -03:00
REQUIRE(poll_condition_with_timeout(
[this]() { return _telemetry->landed_state() == Telemetry::LandedState::InAir; }, std::chrono::seconds(20)));
2019-10-02 15:14:18 -03:00
}
void AutopilotTester::prepare_square_mission(MissionOptions mission_options)
{
2020-03-17 12:15:34 -03:00
const auto ct = get_coordinate_transformation();
2019-10-02 15:14:18 -03:00
Mission::MissionPlan mission_plan {};
mission_plan.mission_items.push_back(create_mission_item({mission_options.leg_length_m, 0.}, mission_options, ct));
mission_plan.mission_items.push_back(create_mission_item({mission_options.leg_length_m, mission_options.leg_length_m},
mission_options, ct));
mission_plan.mission_items.push_back(create_mission_item({0., mission_options.leg_length_m}, mission_options, ct));
2019-10-02 15:14:18 -03:00
2020-03-17 12:15:34 -03:00
_mission->set_return_to_launch_after_mission(mission_options.rtl_at_end);
2019-10-02 15:14:18 -03:00
2020-03-17 12:15:34 -03:00
std::promise<void> prom;
auto fut = prom.get_future();
2019-10-02 15:14:18 -03:00
_mission->upload_mission_async(mission_plan, [&prom](Mission::Result result) {
REQUIRE(Mission::Result::Success == result);
2020-03-17 12:15:34 -03:00
prom.set_value();
});
2019-10-02 15:14:18 -03:00
2020-03-17 12:15:34 -03:00
REQUIRE(fut.wait_for(std::chrono::seconds(2)) == std::future_status::ready);
2019-10-02 15:14:18 -03:00
}
2020-07-09 12:36:24 -03:00
void AutopilotTester::prepare_straight_mission(MissionOptions mission_options)
{
const auto ct = get_coordinate_transformation();
Mission::MissionPlan mission_plan {};
mission_plan.mission_items.push_back(create_mission_item({0, 0.}, mission_options, ct));
mission_plan.mission_items.push_back(create_mission_item({mission_options.leg_length_m, 0}, mission_options, ct));
mission_plan.mission_items.push_back(create_mission_item({2 * mission_options.leg_length_m, 0}, mission_options, ct));
mission_plan.mission_items.push_back(create_mission_item({3 * mission_options.leg_length_m, 0}, mission_options, ct));
mission_plan.mission_items.push_back(create_mission_item({4 * mission_options.leg_length_m, 0}, mission_options, ct));
_mission->set_return_to_launch_after_mission(mission_options.rtl_at_end);
std::promise<void> prom;
auto fut = prom.get_future();
_mission->upload_mission_async(mission_plan, [&prom](Mission::Result result) {
REQUIRE(Mission::Result::Success == result);
prom.set_value();
});
REQUIRE(fut.wait_for(std::chrono::seconds(2)) == std::future_status::ready);
}
2019-10-02 15:14:18 -03:00
void AutopilotTester::execute_mission()
{
2020-03-17 12:15:34 -03:00
std::promise<void> prom;
auto fut = prom.get_future();
2019-10-02 15:14:18 -03:00
2020-03-17 12:15:34 -03:00
_mission->start_mission_async([&prom](Mission::Result result) {
REQUIRE(Mission::Result::Success == result);
2020-03-17 12:15:34 -03:00
prom.set_value();
});
2019-10-02 15:14:18 -03:00
2020-03-17 12:15:34 -03:00
// TODO: Adapt time limit based on mission size, flight speed, sim speed factor, etc.
2020-03-17 12:15:34 -03:00
REQUIRE(poll_condition_with_timeout(
[this]() {
auto result = _mission->is_mission_finished();
return result.first == Mission::Result::Success && result.second;
}, std::chrono::seconds(60)));
2020-03-17 12:15:34 -03:00
REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
2019-10-02 15:14:18 -03:00
}
void AutopilotTester::execute_mission_and_lose_gps()
{
CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success);
_mission->subscribe_mission_progress([this](Mission::MissionProgress progress) {
std::cout << "Progress: " << progress.current << "/" << progress.total;
if (progress.current == 1) {
CHECK(_failure->inject(Failure::FailureUnit::SensorGps, Failure::FailureType::Off)
== Failure::Result::Success);
}
});
std::promise<void> prom;
auto fut = prom.get_future();
_mission->start_mission_async([&prom](Mission::Result result) {
REQUIRE(Mission::Result::Success == result);
prom.set_value();
});
REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
// We expect that a blind land is performed.
REQUIRE(poll_condition_with_timeout(
[this]() {
auto flight_mode = _telemetry->flight_mode();
return flight_mode == Telemetry::FlightMode::Land;
}, std::chrono::seconds(60)));
}
void AutopilotTester::execute_mission_and_lose_mag()
{
CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success);
_mission->subscribe_mission_progress([this](Mission::MissionProgress progress) {
std::cout << "Progress: " << progress.current << "/" << progress.total;
if (progress.current == 1) {
CHECK(_failure->inject(Failure::FailureUnit::SensorMag, Failure::FailureType::Off)
== Failure::Result::Success);
}
});
std::promise<void> prom;
auto fut = prom.get_future();
_mission->start_mission_async([&prom](Mission::Result result) {
REQUIRE(Mission::Result::Success == result);
prom.set_value();
});
REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
// We except the mission to continue without mag just fine.
REQUIRE(poll_condition_with_timeout(
[this]() {
auto progress = _mission->mission_progress();
return progress.current == progress.total;
}, std::chrono::seconds(60)));
}
void AutopilotTester::execute_mission_and_lose_baro()
{
CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success);
_mission->subscribe_mission_progress([this](Mission::MissionProgress progress) {
std::cout << "Progress: " << progress.current << "/" << progress.total;
if (progress.current == 1) {
CHECK(_failure->inject(Failure::FailureUnit::SensorBaro, Failure::FailureType::Off)
== Failure::Result::Success);
}
});
std::promise<void> prom;
auto fut = prom.get_future();
_mission->start_mission_async([&prom](Mission::Result result) {
REQUIRE(Mission::Result::Success == result);
prom.set_value();
});
REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
// We except the mission to continue without baro just fine.
REQUIRE(poll_condition_with_timeout(
[this]() {
auto progress = _mission->mission_progress();
return progress.current == progress.total;
}, std::chrono::seconds(60)));
2020-06-26 09:48:53 -03:00
}
void AutopilotTester::execute_mission_and_get_baro_stuck()
{
CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success);
_mission->subscribe_mission_progress([this](Mission::MissionProgress progress) {
std::cout << "Progress: " << progress.current << "/" << progress.total;
2020-06-26 09:48:53 -03:00
if (progress.current == 1) {
CHECK(_failure->inject(Failure::FailureUnit::SensorBaro, Failure::FailureType::Stuck)
== Failure::Result::Success);
}
});
std::promise<void> prom;
auto fut = prom.get_future();
_mission->start_mission_async([&prom](Mission::Result result) {
REQUIRE(Mission::Result::Success == result);
prom.set_value();
});
REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
// We except the mission to continue with a stuck baro just fine.
REQUIRE(poll_condition_with_timeout(
[this]() {
auto progress = _mission->mission_progress();
return progress.current == progress.total;
}, std::chrono::seconds(60)));
}
2020-06-26 11:43:51 -03:00
void AutopilotTester::execute_mission_and_get_mag_stuck()
{
CHECK(_param->set_param_int("SYS_FAILURE_EN", 1) == Param::Result::Success);
_mission->subscribe_mission_progress([this](Mission::MissionProgress progress) {
std::cout << "Progress: " << progress.current << "/" << progress.total;
if (progress.current == 1) {
CHECK(_failure->inject(Failure::FailureUnit::SensorMag, Failure::FailureType::Stuck)
== Failure::Result::Success);
}
});
std::promise<void> prom;
auto fut = prom.get_future();
_mission->start_mission_async([&prom](Mission::Result result) {
REQUIRE(Mission::Result::Success == result);
prom.set_value();
});
REQUIRE(fut.wait_for(std::chrono::seconds(1)) == std::future_status::ready);
// We except the mission to continue with a stuck mag just fine.
REQUIRE(poll_condition_with_timeout(
[this]() {
auto progress = _mission->mission_progress();
return progress.current == progress.total;
}, std::chrono::seconds(60)));
}
CoordinateTransformation AutopilotTester::get_coordinate_transformation()
2019-10-02 15:14:18 -03:00
{
const auto home = _telemetry->home();
2020-03-17 12:15:34 -03:00
CHECK(std::isfinite(home.latitude_deg));
CHECK(std::isfinite(home.longitude_deg));
return CoordinateTransformation({home.latitude_deg, home.longitude_deg});
2019-10-02 15:14:18 -03:00
}
Mission::MissionItem AutopilotTester::create_mission_item(
2020-03-17 12:15:34 -03:00
const CoordinateTransformation::LocalCoordinate &local_coordinate,
const MissionOptions &mission_options,
const CoordinateTransformation &ct)
2019-10-02 15:14:18 -03:00
{
auto mission_item = Mission::MissionItem{};
2020-03-17 12:15:34 -03:00
const auto pos_north = ct.global_from_local(local_coordinate);
mission_item.latitude_deg = pos_north.latitude_deg;
mission_item.longitude_deg = pos_north.longitude_deg;
mission_item.relative_altitude_m = mission_options.relative_altitude_m;
2020-07-09 12:36:24 -03:00
mission_item.is_fly_through = mission_options.fly_through;
2020-03-17 12:15:34 -03:00
return mission_item;
}
void AutopilotTester::execute_rtl()
{
REQUIRE(Action::Result::Success == _action->return_to_launch());
}
void AutopilotTester::offboard_goto(const Offboard::PositionNedYaw &target, float acceptance_radius_m,
2020-03-17 12:15:34 -03:00
std::chrono::seconds timeout_duration)
{
2020-03-17 12:15:34 -03:00
_offboard->set_position_ned(target);
REQUIRE(_offboard->start() == Offboard::Result::Success);
2020-03-17 12:15:34 -03:00
CHECK(poll_condition_with_timeout(
[ = ]() { return estimated_position_close_to(target, acceptance_radius_m); }, timeout_duration));
std::cout << "Target position reached" << std::endl;
}
void AutopilotTester::check_mission_item_speed_above(int item_index, float min_speed_m_s)
2020-07-09 12:36:24 -03:00
{
_telemetry->set_rate_velocity_ned(10);
_telemetry->subscribe_velocity_ned([item_index, min_speed_m_s, this](Telemetry::VelocityNed velocity) {
2020-07-09 12:36:24 -03:00
float horizontal = std::hypot(velocity.north_m_s, velocity.east_m_s);
auto progress = _mission->mission_progress();
if (progress.current == item_index) {
CHECK(horizontal > min_speed_m_s);
2020-07-09 12:36:24 -03:00
}
});
}
void AutopilotTester::check_tracks_mission(float corridor_radius_m)
{
auto mission = _mission->download_mission();
CHECK(mission.first == Mission::Result::Success);
std::vector<Mission::MissionItem> mission_items = mission.second.mission_items;
auto ct = get_coordinate_transformation();
_telemetry->set_rate_position_velocity_ned(5);
_telemetry->subscribe_position_velocity_ned([ct, mission_items, corridor_radius_m,
this](Telemetry::PositionVelocityNed position_velocity_ned) {
auto progress = _mission->mission_progress();
if (progress.current > 0 && progress.current < progress.total) {
// Get shortest distance of current position to 3D line between previous and next waypoint
std::array<float, 3> current { position_velocity_ned.position.north_m,
position_velocity_ned.position.east_m,
position_velocity_ned.position.down_m };
std::array<float, 3> wp_prev = get_local_mission_item(mission_items[progress.current - 1], ct);
std::array<float, 3> wp_next = get_local_mission_item(mission_items[progress.current], ct);
float distance_to_trajectory = point_to_line_distance(current, wp_prev, wp_next);
CHECK(distance_to_trajectory < corridor_radius_m);
}
});
}
void AutopilotTester::offboard_land()
{
Offboard::VelocityNedYaw land_velocity;
2020-03-17 12:15:34 -03:00
land_velocity.north_m_s = 0.0f;
land_velocity.east_m_s = 0.0f;
land_velocity.down_m_s = 1.0f;
land_velocity.yaw_deg = 0.0f;
_offboard->set_velocity_ned(land_velocity);
}
bool AutopilotTester::estimated_position_close_to(const Offboard::PositionNedYaw &target_pos, float acceptance_radius_m)
{
Telemetry::PositionNed est_pos = _telemetry->position_velocity_ned().position;
2020-03-17 12:15:34 -03:00
return sq(est_pos.north_m - target_pos.north_m) +
sq(est_pos.east_m - target_pos.east_m) +
sq(est_pos.down_m - target_pos.down_m) < sq(acceptance_radius_m);
}
bool AutopilotTester::estimated_horizontal_position_close_to(const Offboard::PositionNedYaw &target_pos,
2020-03-17 12:15:34 -03:00
float acceptance_radius_m)
{
Telemetry::PositionNed est_pos = _telemetry->position_velocity_ned().position;
2020-03-17 12:15:34 -03:00
return sq(est_pos.north_m - target_pos.north_m) +
sq(est_pos.east_m - target_pos.east_m) < sq(acceptance_radius_m);
}
void AutopilotTester::request_ground_truth()
{
CHECK(_telemetry->set_rate_ground_truth(15) == Telemetry::Result::Success);
}
2020-03-17 12:15:34 -03:00
bool AutopilotTester::ground_truth_horizontal_position_close_to(const Telemetry::GroundTruth &target_pos,
float acceptance_radius_m)
{
2020-03-17 12:15:34 -03:00
CHECK(std::isfinite(target_pos.latitude_deg));
CHECK(std::isfinite(target_pos.longitude_deg));
using GlobalCoordinate = CoordinateTransformation::GlobalCoordinate;
using LocalCoordinate = CoordinateTransformation::LocalCoordinate;
CoordinateTransformation ct(GlobalCoordinate{target_pos.latitude_deg, target_pos.longitude_deg});
Telemetry::GroundTruth current_pos = _telemetry->ground_truth();
CHECK(std::isfinite(current_pos.latitude_deg));
CHECK(std::isfinite(current_pos.longitude_deg));
GlobalCoordinate global_current;
global_current.latitude_deg = current_pos.latitude_deg;
global_current.longitude_deg = current_pos.longitude_deg;
LocalCoordinate local_pos = ct.local_from_global(global_current);
2020-05-26 05:38:14 -03:00
const double distance = sqrt(sq(local_pos.north_m) + sq(local_pos.east_m));
const bool pass = distance < acceptance_radius_m;
if (!pass) {
std::cout << "target_pos.lat: " << target_pos.latitude_deg << std::endl;
std::cout << "target_pos.lon: " << target_pos.longitude_deg << std::endl;
std::cout << "current.lat: " << current_pos.latitude_deg << std::endl;
std::cout << "current.lon: " << current_pos.longitude_deg << std::endl;
std::cout << "Distance: " << distance << std::endl;
std::cout << "Acceptance radius: " << acceptance_radius_m << std::endl;
}
return pass;
}