def unit_test(mavproxy, mav):
    '''A scripted flight plan'''
    if ( 
        arducopter.calibrate_level(mavproxy, mav) and
        arducopter.arm_motors(mavproxy, mav) and  
        arducopter.disarm_motors(mavproxy,mav)):
        return True
    return False
Esempio n. 2
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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
Esempio n. 3
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def unit_test(mavproxy, mav):
    '''A scripted flight plan'''
    if ( 
        arducopter.calibrate_level(mavproxy, mav) and
        arducopter.arm_motors(mavproxy, mav) and  
        arducopter.disarm_motors(mavproxy,mav)):
        return True
    return False
Esempio n. 4
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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
Esempio n. 5
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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
Esempio n. 6
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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
Esempio n. 7
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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
Esempio n. 8
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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
Esempio n. 9
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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
Esempio n. 10
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  try:
    mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
  except Exception, msg:
    error("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
    raise
  mav.message_hooks.append(common.message_hook)
  mav.idle_hooks.append(common.idle_hook)

  failed = False
  e = 'None'
  try:
    mav.wait_heartbeat()
    arducopter.setup_rc(mavproxy)

    print 'Calibrating level...'
    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):