def test_sitl():
sitl = SITL()
sitl.download('copter', '3.3')
sitl.launch(copter_args)
sitl.block_until_ready()
assert_equals(sitl.poll(), None, 'SITL should still be running.')
assert_equals(sitl.using_sim, False, 'SITL for copter-3.3 should not be using pysim')
sitl.stop()
assert sitl.poll() != None, 'SITL should stop running after kill.'
# Test "relaunch"
sitl.launch(copter_args)
try:
sitl.launch(copter_args)
assert False, 'SITL should fail to launch() again when running'
except:
pass
try:
sitl.launch(copter_args, restart=True)
except:
assert False, 'SITL should succeed in launch() when restart=True'
sitl.stop()
def copter_sitl_guided_to():
"""
Returns a copter SITL instance for use in test cases
Status: hovering at 10m AGL
Mode: Guided
"""
# Launch a SITL using local copy of Copter 4
sitl = SITL(sitl_filename, instance=0)
sitl.launch(['--home=51.454531,-2.629158,589,353'])
# Wait for sitl to be ready before passing to test cases
sitl.block_until_ready()
# Connect to UAV to setup base parameters
veh = connect(sitl.connection_string(), vehicle_class=DroneTreeVehicle)
veh.parameters['SIM_SONAR_SCALE'] = 0.00001
veh.parameters['RNGFND2_ORIENT'] = 0
veh.parameters['RNGFND2_SCALING'] = 10
veh.parameters['RNGFND2_PIN'] = 0
veh.parameters['RNGFND2_TYPE'] = 1
veh.parameters['RNGFND2_MAX_CM'] = 5000
veh.parameters['RNGFND2_MIN_CM'] = 5000
veh.parameters['SIM_BATT_VOLTAGE'] = 12.59
veh.parameters['BATT_MONITOR'] = 4
veh.parameters['TERRAIN_ENABLE'] = 0
veh.parameters['ARMING_CHECK'] = 16384 # mission only
veh.parameters['SIM_SPEEDUP'] = 10 # speed up SITL for rapid startup
veh.parameters['FRAME_CLASS'] = 2 # I'm a hex
veh.close() # close vehicle instance after setting base parameters
# Stop and relaunch SITL to enable distance sensor and battery monitor
sitl.stop()
sitl.launch(['--home=51.454531,-2.629158,589,353'],
use_saved_data=True,
verbose=True)
# Wait for sitl to be ready before passing to test cases
sitl.block_until_ready()
# Connect again
veh = connect(sitl.connection_string(), vehicle_class=DroneTreeVehicle)
# wait until armable
while not veh.is_armable:
sleep(0.5)
veh.parameters['SIM_SPEEDUP'] = 5 # set sim speed for rapid take-off
veh.arm() # arm veh
veh.mode = VehicleMode('GUIDED') # set veh mode to GUIDED
veh.wait_simple_takeoff(10) # take-off to 10m AGL
veh.close() # close vehicle after guided takeoff
yield sitl
# Shut down simulator if it was started.
if sitl is not None:
sitl.stop()
def start_sitl_rover():
'''start a SITL session using sensible defaults.
This should be the simplest way to start a sitl session'''
print("Starting copter simulator (SITL)")
sitl = SITL()
sitl.download('rover', '2.50', verbose=True)
sitl_args = [
'-I0', '--model', 'rover', '--home=42.2278287,-8.72184010,584,353'
]
sitl.launch(sitl_args, await_ready=False, restart=True, verbose=True)
sitl.block_until_ready(verbose=True)
return sitl
def copter_sitl_ground():
"""
Returns a copter SITL instance for use in test cases
Status: on ground
Mode: Stabilize
"""
# Launch a SITL using local copy of Copter 4
sitl = SITL(sitl_filename, instance=0)
sitl.launch(['--home=51.454531,-2.629158,589,353'])
# Wait for sitl to be ready before passing to test cases
sitl.block_until_ready()
print(sitl.connection_string())
# Connect to UAV to setup base parameters
veh = connect(sitl.connection_string(), vehicle_class=DroneTreeVehicle)
veh.parameters['SIM_SONAR_SCALE'] = 0.00001
veh.parameters['RNGFND2_ORIENT'] = 0
veh.parameters['RNGFND2_SCALING'] = 10
veh.parameters['RNGFND2_PIN'] = 0
veh.parameters['RNGFND2_TYPE'] = 1
veh.parameters['RNGFND2_MAX_CM'] = 5000
veh.parameters['RNGFND2_MIN_CM'] = 5000
veh.parameters['SIM_BATT_VOLTAGE'] = 12.59
veh.parameters['BATT_MONITOR'] = 4
veh.parameters['TERRAIN_ENABLE'] = 0
veh.parameters['ARMING_CHECK'] = 16384 # mission only
veh.parameters['SIM_SPEEDUP'] = 10 # speed up SITL for rapid startup
veh.parameters['FRAME_CLASS'] = 2 # I'm a hex
veh.close() # close veh instance after setting base parameters
# Stop and relaunch SITL to enable distance sensor and battery monitor
sitl.stop()
sitl.launch(['--home=51.454531,-2.629158,589,353'],
use_saved_data=True,
verbose=True)
# Wait for sitl to be ready before passing to test cases
sitl.block_until_ready()
yield sitl
# Shut down simulator if it was started.
if sitl is not None:
sitl.stop()
def _start_SITL(self):
from dronekit_sitl import SITL
sitl = SITL()
sitl.download(
system="copter", version="3.3", verbose=False
) # ...or download system (e.g. "copter") and version (e.g. "3.3")
sitl.launch(["--home=52.52.512593, 13.321893,0,90"],
verbose=False,
await_ready=False,
restart=False)
sitl.block_until_ready(
verbose=False) # explicitly wait until receiving commands
connection_string = sitl.connection_string()
return connection_string
def start_sitl():
"""Launch a SITL using local copy of Copter 4,
then set up the simulator for a rangefinder.
Only works for Windows or Linux. Including
binary in the project is ugly, but only used
for testing."""
sitl_path = sitl_file_path()
sitl = SITL(sitl_path)
sitl.launch(['--home=51.454531,-2.629158,589,353'])
veh = connect(sitl.connection_string(), vehicle_class=DroneTreeVehicle)
veh.parameters['SIM_SONAR_SCALE'] = 0.00001
veh.parameters['RNGFND2_ORIENT'] = 0
veh.parameters['RNGFND2_SCALING'] = 10
veh.parameters['RNGFND2_PIN'] = 0
veh.parameters['RNGFND2_TYPE'] = 1
veh.parameters['RNGFND2_MAX_CM'] = 5000
veh.parameters['RNGFND2_MIN_CM'] = 5000
veh.parameters['SIM_BATT_VOLTAGE'] = 12.59
veh.parameters['BATT_MONITOR'] = 4
veh.parameters['TERRAIN_ENABLE'] = 0
veh.parameters['ARMING_CHECK'] = 16384 # mission only
veh.parameters['FRAME_CLASS'] = 2 # I'm a hex
veh.close()
sitl.stop()
sitl.launch(['--home=51.454531,-2.629158,589,353'],
use_saved_data=True,
verbose=True)
sitl.block_until_ready()
return sitl
sys.exit(0)
versions = version_list()
models = list(versions.keys())
print models.sort()
download('copter','3.3', None)
connection_string = sitl.connection_string()
vehicle = dronekit.connect(connection_string, wait_ready=True)
new_compass_use = 10
sitl.block_until_ready()
sitl.poll()
sitl.using_sim
sitl.stop()
sitl.poll()
sitl.launch(copter_args)
sitl.stop()
print("Changing COMPASS_USE to {0}".format(new_compass_use))
while vehicle.parameters["COMPASS_USE"] != new_compass_use:
vehicle.parameters["COMPASS_USE"] = new_compass_use
time.sleep(0.1)
sitl.stop()
sys.exit(0)
versions = version_list()
models = list(versions.keys())
print models.sort()
download('copter', '3.3', None)
connection_string = sitl.connection_string()
vehicle = dronekit.connect(connection_string, wait_ready=True)
new_compass_use = 10
sitl.block_until_ready()
sitl.poll()
sitl.using_sim
sitl.stop()
sitl.poll()
sitl.launch(copter_args)
sitl.stop()
print("Changing COMPASS_USE to {0}".format(new_compass_use))
while vehicle.parameters["COMPASS_USE"] != new_compass_use:
vehicle.parameters["COMPASS_USE"] = new_compass_use
time.sleep(0.1)
from dronekit_sitl import SITL
import mission
args = ['--model', 'plane',]
sitl = SITL() # load a binary path (optional)
sitl.download("plane", "3.8.0", verbose=False)
sitl.launch(args, verbose=False, await_ready=True, restart=False)
sitl.block_until_ready(verbose=False)
mission.start_flight(sitl.connection_string())
print(sitl.position)
code = sitl.complete(verbose=False)
sitl.poll()
sitl.stop()
def copter_sitl_auto_to():
"""
Returns a copter SITL instance for use in test cases
Status: starting auto takeoff(to 20m AGL), 13 waypoints
Mode: Auto
"""
# Launch a SITL using local copy of Copter 4
sitl = SITL(sitl_filename, instance=0)
sitl.launch(['--home=51.454531,-2.629158,589,353'])
# Wait for sitl to be ready before passing to test cases
sitl.block_until_ready()
# Connect to UAV to setup base parameters
veh = connect(sitl.connection_string(), vehicle_class=DroneTreeVehicle)
veh.parameters['SIM_SONAR_SCALE'] = 0.00001
veh.parameters['RNGFND2_ORIENT'] = 0
veh.parameters['RNGFND2_SCALING'] = 10
veh.parameters['RNGFND2_PIN'] = 0
veh.parameters['RNGFND2_TYPE'] = 1
veh.parameters['RNGFND2_MAX_CM'] = 5000
veh.parameters['RNGFND2_MIN_CM'] = 5000
veh.parameters['SIM_BATT_VOLTAGE'] = 12.59
veh.parameters['BATT_MONITOR'] = 4
veh.parameters['TERRAIN_ENABLE'] = 0
veh.parameters['ARMING_CHECK'] = 16384 # mission only
veh.parameters['SIM_SPEEDUP'] = 10 # speed up SITL for rapid startup
veh.parameters['FRAME_CLASS'] = 2 # I'm a hex
veh.close() # close vehicle instance after setting base parameters
# Stop and relaunch SITL to enable distance sensor and battery monitor
sitl.stop()
sitl.launch(['--home=51.454531,-2.629158,589,353'],
use_saved_data=True,
verbose=True)
# Wait for sitl to be ready before passing to test cases
sitl.block_until_ready()
# Connect again
veh = connect(sitl.connection_string(),
wait_ready=True,
vehicle_class=DroneTreeVehicle)
# upload an arbitrary mission
mission = MAVWPLoader()
filename = join(abspath(sys.path[0]), 'executable_mission.txt')
mission.load(filename)
# bit of a hack: fix the sequence number
for w in mission.wpoints:
w.seq = w.seq + 1
cmds = veh.commands
cmds.clear()
wplist = mission.wpoints[:]
# add a dummy command on the front
# just the first WP used as a placeholder
# upload seems to skip the first WP
cmds.add(wplist[0])
for wp in wplist:
cmds.add(wp)
cmds.upload()
# wait until armable
while not veh.is_armable:
sleep(0.5)
veh.parameters['SIM_SPEEDUP'] = 5 # set sim speed for rapid take-off
sleep(0.5) # wait for parameter change to take place
veh.arm() # arm vehicle
# Perform an auto take-off
veh.mode = VehicleMode('AUTO') # change mode to auto
veh.channels.overrides['3'] = 1700 # raise throttle to confirm T/O
# wait for take-off
while veh.location.global_relative_frame.alt < 0.5:
sleep(0.5)
veh.close() # close vehicle instance after auto takeoff
yield sitl
# Shut down simulator if it was started.
if sitl is not None:
sitl.stop()
