def sim_location(self):
"""Return current simulator location."""
m = self.mav.recv_match(type='SIMSTATE', blocking=True)
return mavutil.location(m.lat*1.0e-7,
m.lng*1.0e-7,
0,
math.degrees(m.yaw))
def get_default_params(atype):
'''get default parameters'''
# use rover simulator so SITL is not starved of input
from pymavlink import mavutil
HOME=mavutil.location(40.071374969556928,-105.22978898137808,1583.702759,246)
sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_rover.py') + ' --rate=200 --speedup=100 --home=%f,%f,%u,%u' % (
HOME.lat, HOME.lng, HOME.alt, HOME.heading)
runsim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
runsim.delaybeforesend = 0
runsim.expect('Starting at lat')
sil = util.start_SIL(atype, wipe=True)
mavproxy = util.start_MAVProxy_SIL(atype)
print("Dumping defaults")
idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
if idx == 0:
# we need to restart it after eeprom erase
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
sil = util.start_SIL(atype)
mavproxy = util.start_MAVProxy_SIL(atype)
idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
parmfile = mavproxy.match.group(1)
dest = 'buildlogs/%s-defaults.parm' % atype
shutil.copy(parmfile, dest)
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
util.pexpect_close(runsim)
print("Saved defaults for %s to %s" % (atype, dest))
return True
def get_default_params(atype, binary):
'''get default parameters'''
# use rover simulator so SITL is not starved of input
from pymavlink import mavutil
HOME=mavutil.location(40.071374969556928,-105.22978898137808,1583.702759,246)
if binary.find("plane") != -1 or binary.find("rover") != -1:
frame = "rover"
else:
frame = "+"
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sil = util.start_SIL(binary, wipe=True, model=frame, home=home, speedup=10)
mavproxy = util.start_MAVProxy_SIL(atype)
print("Dumping defaults")
idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
if idx == 0:
# we need to restart it after eeprom erase
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
sil = util.start_SIL(binary, model=frame, home=home, speedup=10)
mavproxy = util.start_MAVProxy_SIL(atype)
idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
parmfile = mavproxy.match.group(1)
dest = util.reltopdir('../buildlogs/%s-defaults.parm' % atype)
shutil.copy(parmfile, dest)
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
print("Saved defaults for %s to %s" % (atype, dest))
return True
def get_default_params(atype, binary):
"""Get default parameters."""
# use rover simulator so SITL is not starved of input
HOME = mavutil.location(40.071374969556928, -105.22978898137808, 1583.702759, 246)
if "plane" in binary or "rover" in binary:
frame = "rover"
else:
frame = "+"
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=10, unhide_parameters=True)
mavproxy = util.start_MAVProxy_SITL(atype)
print("Dumping defaults")
idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
if idx == 0:
# we need to restart it after eeprom erase
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model=frame, home=home, speedup=10)
mavproxy = util.start_MAVProxy_SITL(atype)
idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
parmfile = mavproxy.match.group(1)
dest = buildlogs_path('%s-defaults.parm' % atype)
shutil.copy(parmfile, dest)
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
print("Saved defaults for %s to %s" % (atype, dest))
return True
def main():
mission_path = None
if len(sys.argv) > 1:
mission_path = sys.argv[1]
frame = '+'
# If we were given a mission, use its first waypoint as home.
if mission_path:
wploader = mavwp.MAVWPLoader()
wploader.load(mission_path)
wp = wploader.wp(0)
home = mavutil.location(wp.x, wp.y, wp.z, 0)
run_mission(mission_path, frame, home)
def test_rally_points(self):
self.load_rally("rover-test-rally.txt")
self.wait_ready_to_arm()
self.arm_vehicle()
self.reach_heading_manual(10)
self.reach_distance_manual(50)
self.change_mode("RTL")
# location copied in from rover-test-rally.txt:
loc = mavutil.location(40.071553,
-105.229401,
0,
0)
self.wait_location(loc)
self.disarm_vehicle()
def test_rally_points(self):
self.reboot_sitl() # to ensure starting point is as expected
self.load_rally("rover-test-rally.txt")
accuracy = self.get_parameter("WP_RADIUS")
self.wait_ready_to_arm()
self.arm_vehicle()
self.reach_heading_manual(10)
self.reach_distance_manual(50)
self.change_mode("RTL")
# location copied in from rover-test-rally.txt:
loc = mavutil.location(40.071553,
-105.229401,
0,
0)
self.wait_location(loc, accuracy=accuracy)
self.disarm_vehicle()
class FieldCMAC(FieldCheck):
lc_name = "cmac"
location = mavutil.location(-35.363261, 149.165230, 584, 353)
# Dive ArduSub in SITL
from __future__ import print_function
import os
import pexpect
from pymavlink import mavutil
from pysim import util
from common import AutoTest
from common import NotAchievedException
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
SITL_START_LOCATION = mavutil.location(33.810313, -118.393867, 0, 185)
class AutoTestSub(AutoTest):
def __init__(self,
binary,
valgrind=False,
gdb=False,
speedup=10,
frame=None,
params=None,
gdbserver=False,
breakpoints=[],
**kwargs):
super(AutoTestSub, self).__init__(**kwargs)
self.binary = binary
import sys
import traceback
import pexpect
from pymavlink import mavutil, mavwp
from common import *
from pysim import util
from pysim import vehicleinfo
vinfo = vehicleinfo.VehicleInfo()
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
# HOME = mavutil.location(-35.362938, 149.165085, 584, 270)
HOME = mavutil.location(37.41175271, -121.996621, 2, 90)
AVCHOME = mavutil.location(40.072842, -105.230575, 1586, 0)
homeloc = None
num_wp = 0
def wait_ready_to_arm(mavproxy):
# wait for EKF and GPS checks to pass
mavproxy.expect('IMU0 is using GPS')
def hover(mavproxy, mav, hover_throttle=1500):
mavproxy.send('rc 3 %u\n' % hover_throttle)
return True
from common import AutoTest
from common import AutoTestTimeoutException
from common import MsgRcvTimeoutException
from common import NotAchievedException
from common import PreconditionFailedException
from pysim import util
from pymavlink import mavutil
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
SITL_START_LOCATION = mavutil.location(40.071374969556928, -105.22978898137808,
1583.702759, 246)
class AutoTestRover(AutoTest):
def __init__(self,
binary,
valgrind=False,
gdb=False,
speedup=8,
frame=None,
params=None,
gdbserver=False,
breakpoints=[],
**kwargs):
super(AutoTestRover, self).__init__(**kwargs)
self.binary = binary
# drive APMrover2 in SITL
import util, pexpect, sys, time, math, shutil, os
from common import *
from pymavlink import mavutil
import random
# get location of scripts
testdir=os.path.dirname(os.path.realpath(__file__))
#HOME=mavutil.location(-35.362938,149.165085,584,270)
#HOME=mavutil.location(40.071374969556928,-105.22978898137808,1583.702759,246)
HOME=mavutil.location(55.190114, 61.174493,570,270)
homeloc = None
def drive_left_circuit(mavproxy, mav):
'''drive a left circuit, 50m on a side'''
mavproxy.send('switch 6\n')
wait_mode(mav, 'MANUAL')
mavproxy.send('rc 3 2000\n')
print("Driving left circuit")
# do 4 turns
for i in range(0,4):
# hard left
print("Starting turn %u" % i)
mavproxy.send('rc 1 1000\n')
if not wait_heading(mav, 270 - (90*i), accuracy=10):
return False
from common import AutoTest
from common import AutoTestTimeoutException
from common import MsgRcvTimeoutException
from common import NotAchievedException
from common import PreconditionFailedException
from pysim import util
from pymavlink import mavutil
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
SITL_START_LOCATION = mavutil.location(40.071374969556928,
-105.22978898137808,
1583.702759,
246)
class AutoTestRover(AutoTest):
def __init__(self,
binary,
valgrind=False,
gdb=False,
speedup=8,
frame=None,
params=None,
gdbserver=False,
breakpoints=[],
**kwargs):
super(AutoTestRover, self).__init__(**kwargs)
import os
import pexpect
from pymavlink import quaternion
from pymavlink import mavutil
from pysim import util
from common import AutoTest
from common import AutoTestTimeoutException
from common import NotAchievedException
from common import PreconditionFailedException
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
HOME = mavutil.location(-35.362938, 149.165085, 585, 354)
WIND = "0,180,0.2" # speed,direction,variance
class AutoTestPlane(AutoTest):
def __init__(self,
binary,
valgrind=False,
gdb=False,
speedup=10,
frame=None,
params=None,
gdbserver=False,
breakpoints=[],
**kwargs):
super(AutoTestPlane, self).__init__(**kwargs)
# switch 3 = RTL
# switch 4 = Auto
# switch 5 = Loiter
# switch 6 = Stabilize
import util, pexpect, sys, time, math, shutil, os
from common import *
from pymavlink import mavutil, mavwp
import random
# get location of scripts
testdir=os.path.dirname(os.path.realpath(__file__))
FRAME='+'
TARGET='sitl'
HOME=mavutil.location(-35.362938,149.165085,584,270)
AVCHOME=mavutil.location(40.072842,-105.230575,1586,0)
homeloc = None
num_wp = 0
def hover(mavproxy, mav, hover_throttle=1450):
mavproxy.send('rc 3 %u\n' % hover_throttle)
return True
def calibrate_level(mavproxy, mav):
'''init the accelerometers'''
print("Initialising accelerometers")
mav.calibrate_level()
mavproxy.expect(['APM: action received', 'COMMAND_ACK'])
return True
import sys
import time
from pymavlink import mavutil
from common import AutoTest
from common import NotAchievedException
from common import AutoTestTimeoutException
if sys.version_info[0] < 3:
ConnectionResetError = AutoTestTimeoutException
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
SITL_START_LOCATION = mavutil.location(33.810313, -118.393867, 0, 185)
class Joystick():
Pitch = 1
Roll = 2
Throttle = 3
Yaw = 4
Forward = 5
Lateral = 6
class AutoTestSub(AutoTest):
@staticmethod
def get_not_armable_mode_list():
return []
import sys
import os
import pexpect
import time
import shutil
from pymavlink import mavutil, mavwp
# import autotest modules
testdir = os.path.abspath("source/Tools/autotest")
sys.path.append(testdir)
from common import *
from pysim import util, vehicleinfo
HOME = mavutil.location(37.9941253662109375, -78.39752197265625, 7299957275390625, 180)
homeloc = None
NUM_WAYPOINTS = {
'good1': 5,
'good2': 5,
'good3': 6,
'bad1': 5,
'bad2': 5
}
END_LOCATION = {
'good1': mavutil.location(37.9941253662109375, -78.39752197265625, 7299957275390625, 180),
'good2': mavutil.location(37.9942436218261719, -78.3973541259765625, 7299957275390625, 180),
# Dive ArduSub in SITL
from __future__ import print_function
import os
import shutil
import pexpect
from pymavlink import mavutil
from pysim import util
from pysim import vehicleinfo
from common import AutoTest
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
HOME = mavutil.location(33.810313, -118.393867, 0, 185)
class AutoTestSub(AutoTest):
def __init__(self,
binary,
viewerip=None,
use_map=False,
valgrind=False,
gdb=False,
speedup=10,
frame=None,
params=None,
gdbserver=False):
super(AutoTestSub, self).__init__()
self.binary = binary
def sim_location(self):
"""Return current simulator location."""
m = self.mav.recv_match(type='SIMSTATE', blocking=True)
return mavutil.location(m.lat * 1.0e-7, m.lng * 1.0e-7, 0,
math.degrees(m.yaw))
import os
import pexpect
from pymavlink import quaternion
from pymavlink import mavutil
from pysim import util
from common import AutoTest
from common import AutoTestTimeoutException
from common import NotAchievedException
from common import PreconditionFailedException
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
SITL_START_LOCATION = mavutil.location(-35.362938, 149.165085, 585, 354)
WIND = "0,180,0.2" # speed,direction,variance
class AutoTestPlane(AutoTest):
def __init__(self,
binary,
valgrind=False,
gdb=False,
speedup=10,
frame=None,
params=None,
gdbserver=False,
breakpoints=[],
**kwargs):
super(AutoTestPlane, self).__init__(**kwargs)
def sim_location(mav):
"""return current simulator location"""
from pymavlink import mavutil
m = mav.recv_match(type="SIMSTATE", blocking=True)
return mavutil.location(m.lat * 1.0e-7, m.lng * 1.0e-7, 0, math.degrees(m.yaw))
import os
import pexpect
from pymavlink import quaternion
from pymavlink import mavutil
from pysim import util
from common import AutoTest
from common import AutoTestTimeoutException
from common import NotAchievedException
from common import PreconditionFailedException
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
SITL_START_LOCATION = mavutil.location(-35.362938, 149.165085, 585, 354)
WIND = "0,180,0.2" # speed,direction,variance
class AutoTestPlane(AutoTest):
def log_name(self):
return "ArduPlane"
def test_filepath(self):
return os.path.realpath(__file__)
def sitl_start_location(self):
return SITL_START_LOCATION
def defaults_filepath(self):
# drive APMrover2 in SITL
import util, pexpect, sys, time, math, shutil, os
from common import *
from pymavlink import mavutil
import random
# get location of scripts
testdir=os.path.dirname(os.path.realpath(__file__))
#HOME=mavutil.location(-35.362938,149.165085,584,270)
HOME=mavutil.location(40.071374969556928,-105.22978898137808,1583.702759,246)
homeloc = None
def arm_rover(mavproxy, mav):
# wait for EKF and GPS checks to pass
wait_seconds(mav, 30)
mavproxy.send('arm throttle\n')
mavproxy.expect('ARMED')
print("ROVER ARMED")
return True
def drive_left_circuit(mavproxy, mav):
'''drive a left circuit, 50m on a side'''
mavproxy.send('switch 6\n')
wait_mode(mav, 'MANUAL')
mavproxy.send('rc 3 2000\n')
class FieldSpringValley(FieldCheck):
location = mavutil.location(-35.281315, 149.005329, 581, 280)
lc_name = "springvalley"
#!/usr/bin/env python
# Fly ArduPlane QuadPlane in SITL
from __future__ import print_function
import os
import pexpect
from pymavlink import mavutil
from common import AutoTest
from pysim import util
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
HOME = mavutil.location(-27.274439, 151.290064, 343, 8.7)
MISSION = 'ArduPlane-Missions/Dalby-OBC2016.txt'
FENCE = 'ArduPlane-Missions/Dalby-OBC2016-fence.txt'
WIND = "0,180,0.2" # speed,direction,variance
class AutoTestQuadPlane(AutoTest):
def __init__(self,
binary,
valgrind=False,
gdb=False,
speedup=10,
frame=None,
params=None,
gdbserver=False,
**kwargs):
super(AutoTestQuadPlane, self).__init__(**kwargs)
self.binary = binary
def sim_location(mav):
"""Return current simulator location."""
from pymavlink import mavutil
m = mav.recv_match(type='SIMSTATE', blocking=True)
return mavutil.location(m.lat*1.0e-7, m.lng*1.0e-7, 0, math.degrees(m.yaw))
class AutoTestHelicopter(AutoTestCopter):
sitl_start_loc = mavutil.location(40.072842, -105.230575, 1586,
0) # Sparkfun AVC Location
def vehicleinfo_key(self):
return 'Helicopter'
def log_name(self):
return "HeliCopter"
def default_frame(self):
return "heli"
def sitl_start_location(self):
return self.sitl_start_loc
def default_speedup(self):
'''Heli seems to be race-free'''
return 100
def is_heli(self):
return True
def rc_defaults(self):
ret = super(AutoTestHelicopter, self).rc_defaults()
ret[8] = 1000
ret[3] = 1000 # collective
return ret
@staticmethod
def get_position_armable_modes_list():
'''filter THROW mode out of armable modes list; Heli is special-cased'''
ret = AutoTestCopter.get_position_armable_modes_list()
ret = filter(lambda x: x != "THROW", ret)
return ret
def loiter_requires_position(self):
self.progress(
"Skipping loiter-requires-position for heli; rotor runup issues")
def get_collective_out(self):
servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
chan_pwm = (servo.servo1_raw + servo.servo2_raw +
servo.servo3_raw) / 3.0
return chan_pwm
def rotor_runup_complete_checks(self):
# Takeoff and landing in Loiter
TARGET_RUNUP_TIME = 10
self.zero_throttle()
self.change_mode('LOITER')
self.wait_ready_to_arm()
self.arm_vehicle()
servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
coll = servo.servo1_raw
coll = coll + 50
self.set_parameter("H_RSC_RUNUP_TIME", TARGET_RUNUP_TIME)
self.progress("Initiate Runup by putting some throttle")
self.set_rc(8, 2000)
self.set_rc(3, 1700)
self.progress("Collective threshold PWM %u" % coll)
tstart = self.get_sim_time()
self.progress("Wait that collective PWM pass threshold value")
servo = self.mav.recv_match(
condition='SERVO_OUTPUT_RAW.servo1_raw>%u' % coll, blocking=True)
runup_time = self.get_sim_time() - tstart
self.progress("Collective is now at PWM %u" % servo.servo1_raw)
self.mav.wait_heartbeat()
if runup_time < TARGET_RUNUP_TIME:
self.zero_throttle()
self.set_rc(8, 1000)
self.disarm_vehicle()
self.mav.wait_heartbeat()
raise NotAchievedException(
"Takeoff initiated before runup time complete %u" % runup_time)
self.progress("Runup time %u" % runup_time)
self.zero_throttle()
self.set_rc(8, 1000)
self.land_and_disarm()
self.mav.wait_heartbeat()
# fly_avc_test - fly AVC mission
def fly_avc_test(self):
# Arm
self.change_mode('STABILIZE')
self.wait_ready_to_arm()
self.arm_vehicle()
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
# upload mission from file
self.progress("# Load copter_AVC2013_mission")
# load the waypoint count
num_wp = self.load_mission("copter_AVC2013_mission.txt", strict=False)
if not num_wp:
raise NotAchievedException("load copter_AVC2013_mission failed")
self.progress("Fly AVC mission from 1 to %u" % num_wp)
self.set_current_waypoint(1)
# wait for motor runup
self.delay_sim_time(20)
# switch into AUTO mode and raise throttle
self.change_mode('AUTO')
self.set_rc(3, 1500)
# fly the mission
self.wait_waypoint(0, num_wp - 1, timeout=500)
# set throttle to minimum
self.zero_throttle()
# wait for disarm
self.wait_disarmed()
self.progress("MOTORS DISARMED OK")
self.progress("Lowering rotor speed")
self.set_rc(8, 1000)
self.progress("AVC mission completed: passed!")
def takeoff(self,
alt_min=30,
takeoff_throttle=1700,
require_absolute=True,
mode="STABILIZE",
timeout=120):
"""Takeoff get to 30m altitude."""
self.progress("TAKEOFF")
self.change_mode(mode)
if not self.armed():
self.wait_ready_to_arm(require_absolute=require_absolute,
timeout=timeout)
self.zero_throttle()
self.arm_vehicle()
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1660, timeout=10)
if mode == 'GUIDED':
self.user_takeoff(alt_min=alt_min)
else:
self.set_rc(3, takeoff_throttle)
self.wait_for_alt(alt_min=alt_min, timeout=timeout)
self.hover()
self.progress("TAKEOFF COMPLETE")
def fly_each_frame(self):
vinfo = vehicleinfo.VehicleInfo()
vinfo_options = vinfo.options[self.vehicleinfo_key()]
known_broken_frames = {}
for frame in sorted(vinfo_options["frames"].keys()):
self.start_subtest("Testing frame (%s)" % str(frame))
if frame in known_broken_frames:
self.progress(
"Actually, no I'm not - it is known-broken (%s)" %
(known_broken_frames[frame]))
continue
frame_bits = vinfo_options["frames"][frame]
print("frame_bits: %s" % str(frame_bits))
if frame_bits.get("external", False):
self.progress(
"Actually, no I'm not - it is an external simulation")
continue
model = frame_bits.get("model", frame)
# the model string for Callisto has crap in it.... we
# should really have another entry in the vehicleinfo data
# to carry the path to the JSON.
actual_model = model.split(":")[0]
defaults = self.model_defaults_filepath(actual_model)
if type(defaults) != list:
defaults = [defaults]
self.customise_SITL_commandline(
[
"--defaults",
','.join(defaults),
],
model=model,
wipe=True,
)
self.takeoff(10)
self.do_RTL()
self.set_rc(8, 1000)
def hover(self):
self.progress("Setting hover collective")
self.set_rc(3, 1500)
def fly_heli_poshold_takeoff(self):
"""ensure vehicle stays put until it is ready to fly"""
self.context_push()
ex = None
try:
self.set_parameter("PILOT_TKOFF_ALT", 700)
self.change_mode('POSHOLD')
self.zero_throttle()
self.set_rc(8, 1000)
self.wait_ready_to_arm()
# Arm
self.arm_vehicle()
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1660, timeout=10)
self.delay_sim_time(20)
# check we are still on the ground...
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
max_relalt_mm = 1000
if abs(m.relative_alt) > max_relalt_mm:
raise NotAchievedException(
"Took off prematurely (abs(%f)>%f)" %
(m.relative_alt, max_relalt_mm))
self.progress("Pushing collective past half-way")
self.set_rc(3, 1600)
self.delay_sim_time(0.5)
self.hover()
# make sure we haven't already reached alt:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
max_initial_alt = 1500
if abs(m.relative_alt) > max_initial_alt:
raise NotAchievedException(
"Took off too fast (%f > %f" %
(abs(m.relative_alt), max_initial_alt))
self.progress("Monitoring takeoff-to-alt")
self.wait_altitude(6.9, 8, relative=True)
self.progress("Making sure we stop at our takeoff altitude")
tstart = self.get_sim_time()
while self.get_sim_time() - tstart < 5:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
delta = abs(7000 - m.relative_alt)
self.progress("alt=%f delta=%f" %
(m.relative_alt / 1000, delta / 1000))
if delta > 1000:
raise NotAchievedException(
"Failed to maintain takeoff alt")
self.progress("takeoff OK")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.land_and_disarm()
self.set_rc(8, 1000)
self.context_pop()
if ex is not None:
raise ex
def fly_heli_stabilize_takeoff(self):
""""""
self.context_push()
ex = None
try:
self.change_mode('STABILIZE')
self.set_rc(3, 1000)
self.set_rc(8, 1000)
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1660, timeout=10)
self.delay_sim_time(20)
# check we are still on the ground...
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
if abs(m.relative_alt) > 100:
raise NotAchievedException("Took off prematurely")
self.progress("Pushing throttle past half-way")
self.set_rc(3, 1600)
self.progress("Monitoring takeoff")
self.wait_altitude(6.9, 8, relative=True)
self.progress("takeoff OK")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.land_and_disarm()
self.set_rc(8, 1000)
self.context_pop()
if ex is not None:
raise ex
def fly_spline_waypoint(self, timeout=600):
"""ensure basic spline functionality works"""
self.load_mission("copter_spline_mission.txt", strict=False)
self.change_mode("LOITER")
self.wait_ready_to_arm()
self.arm_vehicle()
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
self.delay_sim_time(20)
self.change_mode("AUTO")
self.set_rc(3, 1500)
tstart = self.get_sim_time()
while True:
if self.get_sim_time() - tstart > timeout:
raise AutoTestTimeoutException(
"Vehicle did not disarm after mission")
if not self.armed():
break
self.delay_sim_time(1)
self.progress("Lowering rotor speed")
self.set_rc(8, 1000)
def fly_autorotation(self, timeout=600):
"""ensure basic spline functionality works"""
self.set_parameter("AROT_ENABLE", 1)
start_alt = 100 # metres
self.set_parameter("PILOT_TKOFF_ALT", start_alt * 100)
self.change_mode('POSHOLD')
self.set_rc(3, 1000)
self.set_rc(8, 1000)
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1660, timeout=10)
self.delay_sim_time(20)
self.set_rc(3, 2000)
self.wait_altitude(start_alt - 1, (start_alt + 5),
relative=True,
timeout=timeout)
self.context_collect('STATUSTEXT')
self.progress("Triggering autorotate by raising interlock")
self.set_rc(8, 1000)
self.wait_statustext("SS Glide Phase", check_context=True)
self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s",
check_context=True,
regex=True)
speed = float(self.re_match.group(1))
if speed > 30:
raise NotAchievedException("Hit too hard")
self.wait_disarmed()
def set_rc_default(self):
super(AutoTestHelicopter, self).set_rc_default()
self.progress("Lowering rotor speed")
self.set_rc(8, 1000)
def fly_mission(self, filename, strict=True):
num_wp = self.load_mission(filename, strict=strict)
self.change_mode("LOITER")
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(8, 2000) # Raise rotor speed
self.delay_sim_time(20)
self.change_mode("AUTO")
self.set_rc(3, 1500)
self.wait_waypoint(1, num_wp - 1)
self.wait_disarmed()
self.set_rc(8, 1000) # Lower rotor speed
# FIXME move this & plane's version to common
def test_airspeed_drivers(self, timeout=600):
# set the start location to CMAC to use same test script as other vehicles
self.sitl_start_loc = mavutil.location(-35.362881, 149.165222,
582.000000, 90.0) # CMAC
self.customise_SITL_commandline([
"--home",
"%s,%s,%s,%s" % (-35.362881, 149.165222, 582.000000, 90.0)
])
# insert listener to compare airspeeds:
airspeed = [None, None]
def check_airspeeds(mav, m):
m_type = m.get_type()
if (m_type == 'NAMED_VALUE_FLOAT' and m.name == 'AS2'):
airspeed[1] = m.value
elif m_type == 'VFR_HUD':
airspeed[0] = m.airspeed
else:
return
if airspeed[0] is None or airspeed[1] is None:
return
delta = abs(airspeed[0] - airspeed[1])
if delta > 3:
raise NotAchievedException(
"Airspeed mismatch (as1=%f as2=%f)" %
(airspeed[0], airspeed[1]))
# Copter's airspeed sensors are off by default
self.set_parameter("ARSPD_TYPE", 2) # Analog airspeed driver
self.set_parameter("ARSPD_PIN",
1) # Analog airspeed driver pin for SITL
self.reboot_sitl()
airspeed_sensors = [
("MS5525", 3, 1),
("DLVR", 7, 2),
]
for (name, t, bus) in airspeed_sensors:
self.context_push()
if bus is not None:
self.set_parameter("ARSPD2_BUS", bus)
self.set_parameter("ARSPD2_TYPE", t)
self.reboot_sitl()
self.wait_ready_to_arm()
self.arm_vehicle()
self.install_message_hook_context(check_airspeeds)
self.fly_mission("ap1.txt", strict=False)
if airspeed[0] is None:
raise NotAchievedException("Never saw an airspeed1")
if airspeed[1] is None:
raise NotAchievedException("Never saw an airspeed2")
self.context_pop()
if not self.current_onboard_log_contains_message("ARSP"):
raise NotAchievedException("Expected ARSP log message")
self.reboot_sitl()
def tests(self):
'''return list of all tests'''
ret = AutoTest.tests(self)
ret.extend([
("AVCMission", "Fly AVC mission", self.fly_avc_test),
("RotorRunUp", "Test rotor runup",
self.rotor_runup_complete_checks),
("PosHoldTakeOff", "Fly POSHOLD takeoff",
self.fly_heli_poshold_takeoff),
("StabilizeTakeOff", "Fly stabilize takeoff",
self.fly_heli_stabilize_takeoff),
("SplineWaypoint", "Fly Spline Waypoints",
self.fly_spline_waypoint),
("AutoRotation", "Fly AutoRotation", self.fly_autorotation),
("FlyEachFrame", "Fly each supported internal frame",
self.fly_each_frame),
("LogUpload", "Log upload", self.log_upload),
("AirspeedDrivers", "Test AirSpeed drivers",
self.test_airspeed_drivers),
])
return ret
def disabled_tests(self):
return {}
#!/usr/bin/env python
# Fly ArduPlane QuadPlane in SITL
from __future__ import print_function
import os
import pexpect
from pymavlink import mavutil
from common import AutoTest
from pysim import util
from pysim import vehicleinfo
import operator
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
SITL_START_LOCATION = mavutil.location(-27.274439, 151.290064, 343, 8.7)
MISSION = 'ArduPlane-Missions/Dalby-OBC2016.txt'
FENCE = 'ArduPlane-Missions/Dalby-OBC2016-fence.txt'
WIND = "0,180,0.2" # speed,direction,variance
class AutoTestQuadPlane(AutoTest):
def default_frame(self):
return "quadplane"
def test_filepath(self):
return os.path.realpath(__file__)
def sitl_start_location(self):
return SITL_START_LOCATION
import os
import pexpect
from pymavlink import quaternion
from pymavlink import mavutil
from pysim import util
from common import AutoTest
from common import AutoTestTimeoutException
from common import NotAchievedException
from common import PreconditionFailedException
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
HOME = mavutil.location(-35.362938, 149.165085, 585, 354)
WIND = "0,180,0.2" # speed,direction,variance
class AutoTestPlane(AutoTest):
def __init__(self,
binary,
valgrind=False,
gdb=False,
speedup=10,
frame=None,
params=None,
gdbserver=False,
breakpoints=[],
**kwargs):
super(AutoTestPlane, self).__init__(**kwargs)
#!/usr/bin/env python
# Fly ArduPlane QuadPlane in SITL
from __future__ import print_function
import os
import pexpect
from pymavlink import mavutil
from common import AutoTest
from pysim import util
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
HOME = mavutil.location(-27.274439, 151.290064, 343, 8.7)
MISSION = 'ArduPlane-Missions/Dalby-OBC2016.txt'
FENCE = 'ArduPlane-Missions/Dalby-OBC2016-fence.txt'
WIND = "0,180,0.2" # speed,direction,variance
class AutoTestQuadPlane(AutoTest):
def __init__(self,
binary,
valgrind=False,
gdb=False,
speedup=10,
frame=None,
params=None,
gdbserver=False,
breakpoints=[],
**kwargs):
super(AutoTestQuadPlane, self).__init__(**kwargs)
# Drive balancebot in SITL
from __future__ import print_function
import os
import pexpect
from apmrover2 import AutoTestRover
from common import AutoTest
from pymavlink import mavutil
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
# HOME = mavutil.location(-35.362938, 149.165085, 584, 270)
HOME = mavutil.location(40.071374969556928, -105.22978898137808, 1583.702759,
246)
class AutoTestBalanceBot(AutoTestRover):
def __init__(self,
binary,
valgrind=False,
gdb=False,
speedup=10,
frame=None,
params=None,
gdbserver=False,
**kwargs):
super(AutoTestBalanceBot,
self).__init__(binary, valgrind, gdb, speedup, frame, params,
gdbserver, **kwargs)
# switch 3 = RTL
# switch 4 = Auto
# switch 5 = Loiter
# switch 6 = Stabilize
import util, pexpect, sys, time, math, shutil, os
from common import *
from pymavlink import mavutil, mavwp
import random
# get location of scripts
testdir=os.path.dirname(os.path.realpath(__file__))
FRAME='+'
TARGET='sitl'
HOME=mavutil.location(-35.362938,149.165085,584,270)
AVCHOME=mavutil.location(40.072842,-105.230575,1586,0)
homeloc = None
num_wp = 0
speedup_default = 5
def hover(mavproxy, mav, hover_throttle=1450):
mavproxy.send('rc 3 %u\n' % hover_throttle)
return True
def arm_motors(mavproxy, mav):
'''arm motors'''
print("Arming motors")
mavproxy.send('switch 6\n') # stabilize mode
wait_mode(mav, 'STABILIZE')
from __future__ import print_function
import os
import numpy
import math
from pymavlink import mavutil
from common import AutoTest
from common import AutoTestTimeoutException, NotAchievedException, PreconditionFailedException
import operator
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
WIND = "0,180,0.2" # speed,direction,variance
SITL_START_LOCATION = mavutil.location(-27.274439, 151.290064, 343, 8.7)
class AutoTestQuadPlane(AutoTest):
@staticmethod
def get_not_armable_mode_list():
return []
@staticmethod
def get_not_disarmed_settable_modes_list():
return []
@staticmethod
def get_no_position_not_settable_modes_list():
return []
#!/usr/bin/env python
# Dive ArduSub in SITL
from __future__ import print_function
import os
import pexpect
from pymavlink import mavutil
from pysim import util
from common import AutoTest
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
HOME = mavutil.location(33.810313, -118.393867, 0, 185)
class AutoTestSub(AutoTest):
def __init__(self,
binary,
valgrind=False,
gdb=False,
speedup=10,
frame=None,
params=None,
gdbserver=False,
breakpoints=[],
**kwargs):
super(AutoTestSub, self).__init__(**kwargs)
self.binary = binary
class FieldSpringValleyBottom(FieldCheck):
location = mavutil.location(-35.2824450, 149.0053668, 593, 0)
lc_name = "springvalleybottom"
