• 设为首页
  • 点击收藏
  • 手机版
    手机扫一扫访问
    迪恩网络手机版
  • 关注官方公众号
    微信扫一扫关注
    公众号
登陆 注册

Python util.start_MAVProxy_SIL函数代码示例

原作者: [db:作者] 来自: [db:来源] 收藏 邀请

本文整理汇总了Python中util.start_MAVProxy_SIL函数的典型用法代码示例。如果您正苦于以下问题：Python start_MAVProxy_SIL函数的具体用法？Python start_MAVProxy_SIL怎么用？Python start_MAVProxy_SIL使用的例子？那么恭喜您, 这里精选的函数代码示例或许可以为您提供帮助。



在下文中一共展示了start_MAVProxy_SIL函数的20个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于我们的系统推荐出更棒的Python代码示例。

示例1: drive_APMrover2

def drive_APMrover2(viewerip=None):
    '''drive APMrover2 in SIL

    you can pass viewerip as an IP address to optionally send fg and
    mavproxy packets too for local viewing of the mission in real time
    '''
    global homeloc

    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
    if viewerip:
        options += " --out=%s:14550" % viewerip

    sil = util.start_SIL('APMrover2', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
    mavproxy.send("param load %s/Rover.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_rover.py') + ' --rate=50 --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
    util.pexpect_autoclose(runsim)
    runsim.expect('Starting at lat')

    sil = util.start_SIL('APMrover2')
    mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/APMrover2-test.mavlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

    mavproxy.expect('Received [0-9]+ parameters')

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([runsim, sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
开发者ID:DaveCrone，项目名称:ardupilot，代码行数:60，代码来源:apmrover2.py


示例2: get_default_params

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
开发者ID:A-Manzoori，项目名称:ardupilot，代码行数:30，代码来源:autotest.py


示例3: fly_CopterAVC

def fly_CopterAVC(viewerip=None, map=False):
    '''fly ArduCopter in SIL for AVC2013 mission
    '''
    global homeloc

    if TARGET != 'sitl':
        util.build_SIL('ArduCopter', target=TARGET)

    home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
    sil = util.start_SIL('ArduCopter', wipe=True, model='heli', home=home, speedup=speedup_default)
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550')
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send("param load %s/Helicopter.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduCopter', model='heli', home=home, speedup=speedup_default)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
    if viewerip:
        options += ' --out=%s:14550' % viewerip
    if map:
        options += ' --map'
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
    mavproxy.expect('Telemetry log: (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    try:
        os.link(logfile, buildlog)
    except Exception:
        pass

    # the received parameters can come before or after the ready to fly message
    mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
    mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([sil, mavproxy])

    if map:
        mavproxy.send('map icon 40.072467969730496 -105.2314389590174\n')
        mavproxy.send('map icon 40.072600990533829 -105.23146100342274\n')        

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
开发者ID:CHRADI，项目名称:ardupilot，代码行数:60，代码来源:arducopter.py


示例4: fly_CopterAVC

def fly_CopterAVC(binary, viewerip=None, map=False, valgrind=False, gdb=False):
    """fly ArduCopter in SIL for AVC2013 mission
    """
    global homeloc

    home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
    sil = util.start_SIL(binary, wipe=True, model="heli", home=home, speedup=speedup_default)
    mavproxy = util.start_MAVProxy_SIL("ArduCopter", options="--sitl=127.0.0.1:5501 --out=127.0.0.1:19550")
    mavproxy.expect("Received [0-9]+ parameters")

    # setup test parameters
    mavproxy.send("param load %s/Helicopter.parm\n" % testdir)
    mavproxy.expect("Loaded [0-9]+ parameters")
    mavproxy.send("param set LOG_REPLAY 1\n")
    mavproxy.send("param set LOG_DISARMED 1\n")
    time.sleep(3)

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL(binary, model="heli", home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb)
    options = "--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5"
    if viewerip:
        options += " --out=%s:14550" % viewerip
    if map:
        options += " --map"
    mavproxy = util.start_MAVProxy_SIL("ArduCopter", options=options)
    mavproxy.expect("Telemetry log: (\S+)")
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    try:
        os.link(logfile, buildlog)
    except Exception:
        pass

    # the received parameters can come before or after the ready to fly message
    mavproxy.expect(["Received [0-9]+ parameters", "Ready to FLY"])
    mavproxy.expect(["Received [0-9]+ parameters", "Ready to FLY"])

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([sil, mavproxy])

    if map:
        mavproxy.send("map icon 40.072467969730496 -105.2314389590174\n")
        mavproxy.send("map icon 40.072600990533829 -105.23146100342274\n")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection("127.0.0.1:19550", robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
开发者ID:gjweppler，项目名称:ardupilot，代码行数:60，代码来源:arducopter.py


示例5: get_default_params

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
开发者ID:0919061，项目名称:ardupilot，代码行数:32，代码来源:autotest.py


示例6: drive_APMrover2

def drive_APMrover2(viewerip=None, map=False, valgrind=False):
    '''drive APMrover2 in SIL

    you can pass viewerip as an IP address to optionally send fg and
    mavproxy packets too for local viewing of the mission in real time
    '''
    global homeloc

    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
    if viewerip:
        options += " --out=%s:14550" % viewerip
    if map:
        options += ' --map'

    home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sil = util.start_SIL('APMrover2', wipe=True, model='rover', home=home, speedup=10)
    mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)

    print("WAITING FOR PARAMETERS")
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send("param load %s/Rover.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('APMrover2', model='rover', home=home, speedup=10, valgrind=valgrind)
    mavproxy = util.start_MAVProxy_SIL('APMrover2', options=options)
    mavproxy.expect('Telemetry log: (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/APMrover2-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    try:
        os.link(logfile, buildlog)
    except Exception:
        pass

    mavproxy.expect('Received [0-9]+ parameters')

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
开发者ID:Annashuang，项目名称:ardupilot，代码行数:59，代码来源:apmrover2.py


示例7: fly_ArduCopter_scripted

def fly_ArduCopter_scripted(testname):
    '''fly ArduCopter in SIL

    '''
    global homeloc

    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py') + ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
        FRAME, HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sim_cmd += ' --wind=6,45,.3'

    sil = util.start_SIL('ArduCopter', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
    mavproxy.send("param load %s/ArduCopter.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduCopter', height=HOME.alt)
    sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    sim.delaybeforesend = 0
    util.pexpect_autoclose(sim)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'

    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduCopter-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

    # the received parameters can come before or after the ready to fly message
    mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
    mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])

    util.expect_setup_callback(mavproxy, arducopter.expect_callback)

    expect_list_clear()
    expect_list_extend([sim, sil, mavproxy])

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
开发者ID:AeroDragon，项目名称:ArduCopter，代码行数:55，代码来源:autotest_jenkins.py


示例8: run_mission

def run_mission(mission_path, frame, home, viewerip=None):
  sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py')
  sim_cmd += ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
    frame, home.lat, home.lng, home.alt, home.heading)
  sim_cmd += ' --wind=6,45,.3'
  if viewerip:
    sim_cmd += ' --fgout=%s:5503' % viewerip

  sil = util.start_SIL('ArduCopter', wipe=True)
  mavproxy = util.start_MAVProxy_SIL(
    'ArduCopter',
    options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
  mavproxy.expect('Received [0-9]+ parameters')

  # setup test parameters
  mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
  mavproxy.send("param load %s/autotest/ArduCopter.parm\n" % testdir)
  mavproxy.expect('Loaded [0-9]+ parameters')
  mavproxy.send('module load mmap\n')

  # reboot with new parameters
  util.pexpect_close(mavproxy)
  util.pexpect_close(sil)

  sil = util.start_SIL('ArduCopter', height=home.alt)
  print 'Executing command %s' % (sim_cmd,)
  sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
  sim.delaybeforesend = 0
  util.pexpect_autoclose(sim)
  options = ('--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter '
             '--streamrate=5')
  if viewerip:
      options += ' --out=%s:14550' % viewerip
  mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
  mavproxy.expect('Logging to (\S+)')
  logfile = mavproxy.match.group(1)
  print 'Saving log %s' % (logfile,)

  # the received parameters can come before or after the ready to fly message
  mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
  mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])

  mavproxy.send('module load mmap\n')
  util.expect_setup_callback(mavproxy, common.expect_callback)

  common.expect_list_clear()
  common.expect_list_extend([sim, sil, mavproxy])

  # get a mavlink connection going
  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
开发者ID:0919061，项目名称:ardupilot，代码行数:54，代码来源:run_sim_mission.py


示例9: dump_logs

def dump_logs(atype):
    '''dump DataFlash logs'''
    print("Dumping logs for %s" % atype)
    sil = util.start_SIL(atype)
    logfile = util.reltopdir('../buildlogs/%s.flashlog' % atype)
    log = open(logfile, mode='w')
    mavproxy = util.start_MAVProxy_SIL(atype, setup=True, logfile=log)
    mavproxy.send('\n\n\n')
    print("navigating menus")
    mavproxy.expect(']')
    mavproxy.send("logs\n")
    mavproxy.expect("logs enabled:")
    lognums = []
    i = mavproxy.expect(["No logs", "(\d+) logs"])
    if i == 0:
        numlogs = 0
    else:
        numlogs = int(mavproxy.match.group(1))
    for i in range(numlogs):
        mavproxy.expect("Log (\d+),")
        lognums.append(int(mavproxy.match.group(1)))
    mavproxy.expect("Log]")
    for i in range(numlogs):
        print("Dumping log %u (i=%u)" % (lognums[i], i))
        mavproxy.send("dump %u\n" % lognums[i])
        mavproxy.expect("logs enabled:", timeout=120)
        mavproxy.expect("Log]")
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    log.close()
    print("Saved log for %s to %s" % (atype, logfile))
    return True
开发者ID:DaveCrone，项目名称:ardupilot，代码行数:32，代码来源:autotest.py


示例10: get_default_params

def get_default_params(atype):
    """get default parameters"""
    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)
    print("Saved defaults for %s to %s" % (atype, dest))
    return True
开发者ID:travmason，项目名称:ardupilot-mpng，代码行数:20，代码来源:autotest.py


示例11: get_default_params

def get_default_params(atype):
    '''get default parameters'''
    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 = util.reltopdir('../buildlogs/%s.defaults.txt' % atype)
    shutil.copy(parmfile, dest)
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)
    print("Saved defaults for %s to %s" % (atype, dest))
    return True
开发者ID:DaveCrone，项目名称:ardupilot，代码行数:20，代码来源:autotest.py


示例12: fly_ArduPlane

def fly_ArduPlane(binary, viewerip=None, map=False, valgrind=False, gdb=False):
    '''fly ArduPlane in SIL

    you can pass viewerip as an IP address to optionally send fg and
    mavproxy packets too for local viewing of the flight in real time
    '''
    global homeloc

    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
    if viewerip:
        options += " --out=%s:14550" % viewerip
    if map:
        options += ' --map'

    sil = util.start_SIL(binary, model='plane-elevrev', home=HOME_LOCATION, speedup=10,
                         valgrind=valgrind, gdb=gdb,
                         defaults_file=os.path.join(testdir, 'default_params/ArduPlane.parm'))
    mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
    mavproxy.expect('Telemetry log: (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduPlane-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    try:
        os.link(logfile, buildlog)
    except Exception:
        pass

    util.expect_setup_callback(mavproxy, expect_callback)

    mavproxy.expect('Received [0-9]+ parameters')

    expect_list_clear()
    expect_list_extend([sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
开发者ID:B-robur，项目名称:ardupilot，代码行数:46，代码来源:arduplane.py


示例13: fly_ArduCopter

def fly_ArduCopter(viewerip=None, map=False):
    """fly ArduCopter in SIL

    you can pass viewerip as an IP address to optionally send fg and
    mavproxy packets too for local viewing of the flight in real time
    """
    global homeloc

    if TARGET != "sitl":
        util.build_SIL("ArduCopter", target=TARGET)

    sim_cmd = util.reltopdir(
        "Tools/autotest/pysim/sim_multicopter.py"
    ) + " --frame=%s --rate=400 --home=%f,%f,%u,%u" % (FRAME, HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sim_cmd += " --wind=6,45,.3"
    if viewerip:
        sim_cmd += " --fgout=%s:5503" % viewerip

    sil = util.start_SIL("ArduCopter", wipe=True)
    mavproxy = util.start_MAVProxy_SIL("ArduCopter", options="--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter")
    mavproxy.expect("Received [0-9]+ parameters")

    # setup test parameters
    mavproxy.send("param load %s/copter_params.parm\n" % testdir)
    mavproxy.expect("Loaded [0-9]+ parameters")

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL("ArduCopter", height=HOME.alt)
    sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    sim.delaybeforesend = 0
    util.pexpect_autoclose(sim)
    options = "--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5"
    if viewerip:
        options += " --out=%s:14550" % viewerip
    if map:
        options += " --map"
    mavproxy = util.start_MAVProxy_SIL("ArduCopter", options=options)
    mavproxy.expect("Logging to (\S+)")
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduCopter-test.tlog")
    print("buildlog=%s" % buildlog)
    copyTLog = False
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    try:
        os.link(logfile, buildlog)
    except Exception:
        print(
            "WARN: Failed to create symlink: "
            + logfile
            + " => "
            + buildlog
            + ", Will copy tlog manually to target location"
        )
        copyTLog = True

    # the received parameters can come before or after the ready to fly message
    mavproxy.expect(["Received [0-9]+ parameters", "Ready to FLY"])
    mavproxy.expect(["Received [0-9]+ parameters", "Ready to FLY"])

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([sim, sil, mavproxy])

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection("127.0.0.1:19550", robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
开发者ID:MarkMote，项目名称:ardupilot，代码行数:76，代码来源:arducopter.py


示例14: fly_ArduPlane

def fly_ArduPlane(viewerip=None, map=False):
    '''fly ArduPlane in SIL

    you can pass viewerip as an IP address to optionally send fg and
    mavproxy packets too for local viewing of the flight in real time
    '''
    global homeloc

    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
    if viewerip:
        options += " --out=%s:14550" % viewerip
    if map:
        options += ' --map'

    sil = util.start_SIL('ArduPlane', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send("param load %s/ArduPlane.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    mavproxy.send("param fetch\n")

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    cmd = util.reltopdir("Tools/autotest/jsbsim/runsim.py")
#    util.reltopdir("Tools/autotest/sim_arduplane_hil.sh")
#    cmd += " --home=%s --wind=%s --script='%s/jsbsim/SW13_test.xml' "% (HOME_LOCATION, WIND, testdir)
    #Original
    cmd += " --home=%s --wind=%s"% (HOME_LOCATION, WIND)
    if viewerip:
        cmd += " --fgout=%s:5503" % viewerip

    runsim = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
    runsim.delaybeforesend = 0
    util.pexpect_autoclose(runsim)
    runsim.expect('Simulator ready to fly')

    sil = util.start_SIL('ArduPlane')
    mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduPlane-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    try:
        os.link(logfile, buildlog)
    except Exception:
        pass

    mavproxy.expect('Received [0-9]+ parameters')

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([runsim, sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
开发者ID:robolamp，项目名称:rAutotest，代码行数:71，代码来源:arduplane.py


示例15: fly_CopterAVC

def fly_CopterAVC(viewerip=None, map=False):
    '''fly ArduCopter in SIL for AVC2013 mission
    '''
    global homeloc

    if TARGET != 'sitl':
        util.build_SIL('ArduCopter', target=TARGET)

    sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py') + ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
        FRAME, AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
    if viewerip:
        sim_cmd += ' --fgout=%s:5503' % viewerip

    sil = util.start_SIL('ArduCopter', wipe=True)
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
    mavproxy.expect('Received [0-9]+ parameters')

    # setup test parameters
    mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
    mavproxy.send("param load %s/CopterAVC.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduCopter', height=HOME.alt)
    sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    sim.delaybeforesend = 0
    util.pexpect_autoclose(sim)
    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
    if viewerip:
        options += ' --out=%s:14550' % viewerip
    if map:
        options += ' --map'
    mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
    mavproxy.expect('Logging to (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

    # the received parameters can come before or after the ready to fly message
    mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
    mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([sim, sil, mavproxy])

    if map:
        mavproxy.send('map icon 40.072467969730496 -105.2314389590174\n')
        mavproxy.send('map icon 40.072600990533829 -105.23146100342274\n')        

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
开发者ID:jschall，项目名称:ardupilot，代码行数:65，代码来源:arducopter.py


示例16: fly_ArduPlane

def fly_ArduPlane(viewerip=None, map=False):
    '''fly ArduPlane in SIL

    you can pass viewerip as an IP address to optionally send fg and
    mavproxy packets too for local viewing of the flight in real time
    '''
    global homeloc

    options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
    if viewerip:
        options += " --out=%s:14550" % viewerip
    if map:
        options += ' --map'

    sil = util.start_SIL('ArduPlane', wipe=True, model='jsbsim', home=HOME_LOCATION, speedup=10)
    print("Starting MAVProxy")
    mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
    util.expect_setup_callback(mavproxy, expect_callback)

    mavproxy.expect('Telemetry log: (\S+)')
    mavproxy.expect('Received [0-9]+ parameters',timeout=3000)

    # setup test parameters
    mavproxy.send("param load %s/ArduPlane.parm\n" % testdir)
    mavproxy.expect('Loaded [0-9]+ parameters')

    mavproxy.send("param fetch\n")

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL('ArduPlane', model='jsbsim', home=HOME_LOCATION, speedup=10)
    mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
    mavproxy.expect('Telemetry log: (\S+)')
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduPlane-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    try:
        os.link(logfile, buildlog)
    except Exception:
        pass

    util.expect_setup_callback(mavproxy, expect_callback)

    mavproxy.expect('Received [0-9]+ parameters')

    expect_list_clear()
    expect_list_extend([sil, mavproxy])

    print("Started simulator")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
开发者ID:AurelienRoy，项目名称:ardupilot，代码行数:62，代码来源:arduplane.py


示例17: fly_CopterAVC

def fly_CopterAVC(viewerip=None, map=False):
    """fly ArduCopter in SIL for AVC2013 mission
    """
    global homeloc

    if TARGET != "sitl":
        util.build_SIL("ArduCopter", target=TARGET)

    sim_cmd = util.reltopdir("Tools/autotest/pysim/sim_multicopter.py") + " --frame=%s --home=%f,%f,%u,%u" % (
        FRAME,
        AVCHOME.lat,
        AVCHOME.lng,
        AVCHOME.alt,
        AVCHOME.heading,
    )
    if viewerip:
        sim_cmd += " --fgout=%s:5505" % viewerip
    sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
    sim.delaybeforesend = 0
    util.pexpect_autoclose(sim)

    sil = util.start_SIL("ArduCopter", wipe=True)
    mavproxy = util.start_MAVProxy_SIL("ArduCopter", options="--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter")
    mavproxy.expect("Received [0-9]+ parameters")

    # setup test parameters
    mavproxy.send("param load %s/copter_AVC2013_params.parm\n" % testdir)
    # mavproxy.send("param load %s/copter_params.parm\n" % testdir)
    mavproxy.expect("Loaded [0-9]+ parameters")

    # reboot with new parameters
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL("ArduCopter", height=HOME.alt)

    options = "--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5"
    if viewerip:
        options += " --out=%s:14550" % viewerip
    if map:
        options += " --map"
    mavproxy = util.start_MAVProxy_SIL("ArduCopter", options=options)
    mavproxy.expect("Logging to (\S+)")
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    try:
        os.link(logfile, buildlog)
    except Exception:
        pass

    # the received parameters can come before or after the ready to fly message
    mavproxy.expect(["Received [0-9]+ parameters", "Ready to FLY"])
    mavproxy.expect(["Received [0-9]+ parameters", "Ready to FLY"])

    util.expect_setup_callback(mavproxy, expect_callback)

    expect_list_clear()
    expect_list_extend([sim, sil, mavproxy])

    if map:
        mavproxy.send("map icon 40.072467969730496 -105.2314389590174\n")
        mavproxy.send("map icon 40.072600990533829 -105.23146100342274\n")

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection("127.0.0.1:19550", robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
        raise
开发者ID:nwind21，项目名称:ardupilot，代码行数:74，代码来源:arducopter.py


示例18: fly_ArduPlane

def fly_ArduPlane(viewerip=None):
    """fly ArduPlane in SIL

    you can pass viewerip as an IP address to optionally send fg and
    mavproxy packets too for local viewing of the flight in real time
    """
    global expect_list, homeloc

    options = "--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5"
    if viewerip:
        options += " --out=%s:14550" % viewerip

    sil = util.start_SIL("ArduPlane", wipe=True)
    mavproxy = util.start_MAVProxy_SIL("ArduPlane", options=options)
    mavproxy.expect("Received [0-9]+ parameters")

    # setup test parameters
    mavproxy.send("param load %s/ArduPlane.parm\n" % testdir)
    mavproxy.expect("Loaded [0-9]+ parameters")

    # restart with new parms
    util.pexpect_close(mavproxy)
    util.pexpect_close(sil)

    sil = util.start_SIL("ArduPlane")
    mavproxy = util.start_MAVProxy_SIL("ArduPlane", options=options)
    mavproxy.expect("Logging to (\S+)")
    logfile = mavproxy.match.group(1)
    print("LOGFILE %s" % logfile)

    buildlog = util.reltopdir("../buildlogs/ArduPlane-test.mavlog")
    print("buildlog=%s" % buildlog)
    if os.path.exists(buildlog):
        os.unlink(buildlog)
    os.link(logfile, buildlog)

    mavproxy.expect("Received [0-9]+ parameters")

    util.expect_setup_callback(mavproxy, expect_callback)

    fg_scenery = os.getenv("FG_SCENERY")
    if not fg_scenery:
        raise RuntimeError("You must set the FG_SCENERY environment variable")

    fgear_options = (
        """
    --generic=socket,in,25,,5502,udp,MAVLink \
    --generic=socket,out,50,,5501,udp,MAVLink \
    --aircraft=Rascal110-JSBSim \
    --control=mouse \
    --disable-intro-music \
    --airport=YKRY \
    --lat=-35.362851 \
    --lon=149.165223 \
    --heading=350 \
    --altitude=0 \
    --geometry=650x550 \
    --jpg-httpd=5502 \
    --disable-anti-alias-hud \
    --disable-hud-3d \
    --disable-enhanced-lighting \
    --disable-distance-attenuation \
    --disable-horizon-effect \
    --shading-flat \
    --disable-textures \
    --timeofday=noon \
    --fdm=jsb \
    --disable-sound \
    --disable-fullscreen \
    --disable-random-objects \
    --disable-ai-models \
    --shading-flat \
    --fog-disable \
    --disable-specular-highlight \
    --disable-skyblend \
    --fg-scenery=%s \
    --disable-anti-alias-hud \
    [email protected] \
"""
        % fg_scenery
    )
    # start fgear
    if os.getenv("DISPLAY"):
        cmd = "fgfs %s" % fgear_options
        fgear = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
    else:
        cmd = "xvfb-run --server-num=42 -s '-screen 0 800x600x24' fgfs --enable-wireframe %s" % fgear_options
        util.kill_xvfb(42)
        fgear = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
        fgear.xvfb_server_num = 42
    util.pexpect_autoclose(fgear)
    fgear.expect("creating 3D noise", timeout=30)

    expect_list.extend([fgear, sil, mavproxy])

    # get a mavlink connection going
    try:
        mav = mavutil.mavlink_connection("127.0.0.1:19550", robust_parsing=True)
    except Exception, msg:
        print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
#.........这里部分代码省略.........
开发者ID:BernieLiu，项目名称:ardupilotone，代码行数:101，代码来源:arduplane.py


示例19: fly_ArduCopter

def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=False):
    """fly ArduCopter in SIL

    you can pass viewerip as an IP address to optionally send fg and
    mavproxy packets too for local viewing of the flight in real time
    """
    global homeloc

    home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
    sil = util.start_SIL(binary, wipe=True, model="+", home=home, speedup=speedup_default)
    mavproxy = util.start_MAVProxy_SIL("ArduCopter", options="--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter")
    mavproxy.expect("Received [0-9]+ parameters")

    # setup test parameters
    mavproxy.send("param load %s/copter_params.parm\n" % testdir)
    mavproxy.expect("Loaded [0-9]+ parameters")
    mavproxy.send("param set LOG_REPLAY 1\n

鲜花
握手
雷人
路过
鸡蛋
该文章已有0人参与评论

请发表评论

全部评论

专题导读
More+
上一篇：
Python util.start_SIL函数代码示例发布时间：2022-05-26
下一篇：
Python util.slugify函数代码示例发布时间：2022-05-26
热门推荐
More+
热门话题
More+
阅读排行榜

扫描微信二维码

查看手机版网站

随时了解更新最新资讯

139-2527-9053

在线客服（服务时间 9:00～18:00）

在线QQ客服
地址：深圳市南山区西丽大学城创智工业园
电邮：jeky_zhao#qq.com
移动电话：139-2527-9053

Powered by 互联科技 X3.4© 2001-2213 极客世界.|Sitemap