From f54d8b02eb37f8952fc24fad4a6bc2a933cfd328 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 7 Apr 2014 22:25:38 +0900
Subject: [PATCH] AutoTest: fix to copter missions
Missions were not completing successfully because they were waiting for
the current waypoint number to be 1 higher than was possible
---
Tools/autotest/arducopter.py | 89 ++++++++++++++++++++++++------------
1 file changed, 60 insertions(+), 29 deletions(-)
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index d1d7abfb1..70c469a2c 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -74,7 +74,7 @@ def takeoff(mavproxy, mav, alt_min = 30, takeoff_throttle=1700):
return True
# loiter - fly south west, then hold loiter within 5m position and altitude
-def loiter(mavproxy, mav, holdtime=15, maxaltchange=5, maxdistchange=5):
+def loiter(mavproxy, mav, holdtime=10, maxaltchange=5, maxdistchange=5):
'''hold loiter position'''
mavproxy.send('switch 5\n') # loiter mode
wait_mode(mav, 'LOITER')
@@ -572,8 +572,8 @@ def fly_gps_glitch_auto_test(mavproxy, mav, timeout=30, max_distance=100):
# record position for 30 seconds
while glitch_current < glitch_num:
time_in_sec = int(time.time() - tstart);
- if time_in_sec > glitch_current and glitch_current != -1:
- glitch_current = time_in_sec
+ if (time_in_sec * 2) > glitch_current and glitch_current != -1:
+ glitch_current = (time_in_sec * 2)
# apply next glitch
if glitch_current < glitch_num:
mavproxy.send('param set SIM_GPS_GLITCH_X %.7f\n' % glitch_lat[glitch_current])
@@ -584,7 +584,17 @@ def fly_gps_glitch_auto_test(mavproxy, mav, timeout=30, max_distance=100):
mavproxy.send('param set SIM_GPS_GLITCH_Y 0\n')
# continue with the mission
- ret = wait_waypoint(mav, 0, num_wp, timeout=500, mode='AUTO')
+ ret = wait_waypoint(mav, 0, num_wp-1, timeout=500, mode='AUTO')
+
+ # wait for arrival back home
+ m = mav.recv_match(type='VFR_HUD', blocking=True)
+ pos = mav.location()
+ dist_to_home = get_distance(HOME, pos)
+ while dist_to_home > 5:
+ m = mav.recv_match(type='VFR_HUD', blocking=True)
+ pos = mav.location()
+ dist_to_home = get_distance(HOME, pos)
+ print("Dist from home: %u" % dist_to_home)
# turn off simulator display of gps and actual position
show_gps_and_sim_positions(mavproxy, False)
@@ -740,6 +750,45 @@ def fly_circle(mavproxy, mav, maxaltchange=10, holdtime=36):
print("CIRCLE OK for %u seconds" % holdtime)
return True
+# fly_auto_test - fly mission which tests a significant number of commands
+def fly_auto_test(mavproxy, mav):
+
+ # Fly mission #1
+ print("# Upload copter_glitch_mission")
+ if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_mission.txt")):
+ print("upload copter_mission.txt failed")
+ return False
+
+ # this grabs our mission count
+ if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_mission.txt")):
+ print("load copter_mission failed")
+ return False
+
+ # load the waypoint count
+ global homeloc
+ global num_wp
+ print("test: Fly a mission from 1 to %u" % num_wp)
+ mavproxy.send('wp set 1\n')
+
+ # switch into AUTO mode and raise throttle
+ mavproxy.send('switch 4\n') # auto mode
+ wait_mode(mav, 'AUTO')
+ mavproxy.send('rc 3 1500\n')
+
+ # fly the mission
+ ret = wait_waypoint(mav, 0, num_wp-1, timeout=500, mode='AUTO')
+
+ # set throttle to minimum
+ mavproxy.send('rc 3 1000\n')
+
+ # wait for disarm
+ mav.motors_disarmed_wait()
+ print("MOTORS DISARMED OK")
+
+ print("Auto mission completed: passed=%s" % ret)
+
+ return ret
+
def land(mavproxy, mav, timeout=60):
'''land the quad'''
print("STARTING LANDING")
@@ -1005,9 +1054,9 @@ def fly_ArduCopter(viewerip=None, map=False):
print("takeoff failed")
failed = True
- # Loiter for 15 seconds
+ # Loiter for 10 seconds
print("#")
- print("########## Test Loiter for 15 seconds ##########")
+ print("########## Test Loiter for 10 seconds ##########")
print("#")
if not loiter(mavproxy, mav):
print("loiter failed")
@@ -1015,9 +1064,9 @@ def fly_ArduCopter(viewerip=None, map=False):
# Loiter Climb
print("#")
- print("# Loiter - climb to 40m")
+ print("# Loiter - climb to 30m")
print("#")
- if not change_alt(mavproxy, mav, 40):
+ if not change_alt(mavproxy, mav, 30):
print("change_alt failed")
failed = True
@@ -1099,30 +1148,12 @@ def fly_ArduCopter(viewerip=None, map=False):
print("RTL failed")
failed = True
- # Fly mission #1
- print("# Upload copter_mission")
- if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_mission.txt")):
- print("upload_mission_from_file failed")
- failed = True
-
- # this grabs our mission count
- print("# store copter_mission locally")
- if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_mission.txt")):
- print("load_mission_from_file failed")
- failed = True
-
- print("# Fly mission 1")
- if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
+ print("# Fly copter mission")
+ if not fly_auto_test(mavproxy, mav):
print("fly_mission failed")
failed = True
else:
- print("Flew mission 1 OK")
-
- #mission includes LAND at end so should be ok to disamr
- print("# disarm motors")
- if not disarm_motors(mavproxy, mav):
- print("disarm_motors failed")
- failed = True
+ print("Flew copter mission OK")
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/ArduCopter-log.bin")):
print("Failed log download")
--
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