def unit_test(mavproxy, mav):
'''A scripted flight plan'''
if (
arducopter.calibrate_level(mavproxy, mav) and
arducopter.arm_motors(mavproxy, mav) and
arducopter.takeoff(mavproxy,mav, alt_min=30, takeoff_throttle=1510)):
return True
return False
def unit_test(mavproxy, mav):
'''A scripted flight plan'''
if (arducopter.calibrate_level(mavproxy, mav)
and arducopter.arm_motors(mavproxy, mav) and arducopter.takeoff(
mavproxy, mav, alt_min=80, takeoff_throttle=1510)
and arducopter.hover(mavproxy, mav, hover_throttle=1300)
and arducopter.fly_RTL(mavproxy, mav, side=80, timeout=80)):
return True
return False
def unit_test(mavproxy, mav):
'''A scripted flight plan'''
if (
arducopter.calibrate_level(mavproxy, mav) and
arducopter.arm_motors(mavproxy, mav) and
arducopter.takeoff(mavproxy,mav, alt_min=30, takeoff_throttle=1510) and
arducopter.hover(mavproxy,mav, hover_throttle=1300) and
arducopter.loiter(mavproxy, mav, holdtime=45, maxaltchange=20)): # 45 second loiter
return True
return False
def unit_test(mavproxy, mav):
'''A scripted flight plan'''
if (
arducopter.calibrate_level(mavproxy, mav) and
arducopter.arm_motors(mavproxy, mav) and
arducopter.takeoff(mavproxy,mav, alt_min=80, takeoff_throttle=1510) and
arducopter.hover(mavproxy,mav, hover_throttle=1300) and
arducopter.fly_RTL(mavproxy, mav, side=80, timeout=80)):
return True
return False
def unit_test(mavproxy, mav):
'''A scripted flight plan'''
if (arducopter.calibrate_level(mavproxy, mav)
and arducopter.arm_motors(mavproxy, mav) and arducopter.takeoff(
mavproxy, mav, alt_min=30, takeoff_throttle=1510)
and arducopter.hover(mavproxy, mav, hover_throttle=1300)
and arducopter.loiter(mavproxy, mav, holdtime=45,
maxaltchange=20)): # 45 second loiter
return True
return False
def unit_test(mavproxy, mav):
'''A scripted flight plan for testing AP_Limits'''
time.sleep(5)
print "# Setting AP_Limits parameters"
mavproxy.send('param set LIM_ENABLED 1\n')
mavproxy.send('param set LIM_REQUIRED 0\n')
mavproxy.send('param set LIM_DEBUG 1\n')
mavproxy.send('param set LIM_SAFETIME 1\n')
mavproxy.send('param set LIM_ALT_ON 1\n')
mavproxy.send('param set LIM_ALT_REQ 0\n')
mavproxy.send('param set LIM_ALT_MIN 0\n')
mavproxy.send('param set LIM_ALT_MAX 50\n')
mavproxy.send('param set LIM_FNC_ON 0\n')
mavproxy.send('param set LIM_FNC_REQ 0\n')
mavproxy.send('param set LIM_FNC_SMPL 1\n')
mavproxy.send('param set LIM_FNC_RAD 50\n')
time.sleep(5)
print "# Listing AP_Limits parameters"
mavproxy.send('param show LIM*\n')
if (
arducopter.calibrate_level(mavproxy, mav) and
arducopter.arm_motors(mavproxy, mav) and
arducopter.takeoff(mavproxy,mav, alt_min=30, takeoff_throttle=1510) and
arducopter.hover(mavproxy, mav, hover_throttle=1500)
):
# Trigger for ALT_MAX
climb_rate = 0
previous_alt = 0
timeout = 30
# Do Not Exceed altitude
alt_dne = 55
tstart = time.time()
mavproxy.send('rc 3 1550\n')
while (time.time() < tstart + timeout):
m = mav.recv_match(type='VFR_HUD', blocking=True)
climb_rate = m.alt - previous_alt
previous_alt = m.alt
print("Trigger Altitude Limit: Cur:%u, climb_rate: %u" % (m.alt, climb_rate))
if abs(climb_rate) > 0:
tstart = time.time();
if (mav.recv_match(condition='MAV.flightmode=="GUIDED"', blocking=False) != None):
print "Triggered!"
return True
if m.alt >= alt_dne :
print("Altitude Exceeded")
return False
return False
return False
def unit_test(mavproxy, mav):
'''A scripted flight plan for testing AP_Limits'''
time.sleep(5)
print "# Setting AP_Limits parameters"
mavproxy.send('param set LIM_ENABLED 1\n')
mavproxy.send('param set LIM_REQUIRED 0\n')
mavproxy.send('param set LIM_DEBUG 1\n')
mavproxy.send('param set LIM_SAFETIME 1\n')
mavproxy.send('param set LIM_ALT_ON 1\n')
mavproxy.send('param set LIM_ALT_REQ 0\n')
mavproxy.send('param set LIM_ALT_MIN 0\n')
mavproxy.send('param set LIM_ALT_MAX 50\n')
mavproxy.send('param set LIM_FNC_ON 0\n')
mavproxy.send('param set LIM_FNC_REQ 0\n')
mavproxy.send('param set LIM_FNC_SMPL 1\n')
mavproxy.send('param set LIM_FNC_RAD 50\n')
time.sleep(5)
print "# Listing AP_Limits parameters"
mavproxy.send('param show LIM*\n')
if (arducopter.calibrate_level(mavproxy, mav)
and arducopter.arm_motors(mavproxy, mav) and arducopter.takeoff(
mavproxy, mav, alt_min=30, takeoff_throttle=1510)
and arducopter.hover(mavproxy, mav, hover_throttle=1500)):
# Trigger for ALT_MAX
climb_rate = 0
previous_alt = 0
timeout = 30
# Do Not Exceed altitude
alt_dne = 55
tstart = time.time()
mavproxy.send('rc 3 1550\n')
while (time.time() < tstart + timeout):
m = mav.recv_match(type='VFR_HUD', blocking=True)
climb_rate = m.alt - previous_alt
previous_alt = m.alt
print("Trigger Altitude Limit: Cur:%u, climb_rate: %u" %
(m.alt, climb_rate))
if abs(climb_rate) > 0:
tstart = time.time()
if (mav.recv_match(condition='MAV.flightmode=="GUIDED"',
blocking=False) != None):
print "Triggered!"
return True
if m.alt >= alt_dne:
print("Altitude Exceeded")
return False
return False
return False
if not arducopter.calibrate_level(mavproxy, mav):
error('Failed to calibrate level.')
failed = True
print 'Arming motors...'
if not arducopter.arm_motors(mavproxy, mav):
error('Failed to arm motors.')
failed = True
if (mission_path and
arducopter.load_mission_from_file(mavproxy, mav, mission_path)):
error('Failed to load mission %s' % (mission_path,))
failed = True
print 'Taking off.'
if not arducopter.takeoff(mavproxy, mav, 10):
error('Failed to takeoff.')
if mission_path:
print 'Beginning mission in...'
for i in range(3, 0, -1):
print i
time.sleep(1)
print 'Flying mission.'
if not arducopter.fly_mission(mavproxy, mav, height_accuracy=0.5,
target_altitude=10):
error("fly_mission failed")
failed = True
else:
print 'MISSION COMPLETE.'
