autotest: add QuadPlane.RealFlightTitanCobraHover

Tools/autotest/autotest.py

@@ -525,6 +525,8 @@ def run_step(step):
     }
     if opts.speedup is not None:
         fly_opts["speedup"] = opts.speedup
+    if opts.realflight_address is not None:
+        fly_opts["realflight_address"] = opts.realflight_address
 
     # handle "test.Copter" etc:
     if step in tester_class_map:
@@ -1017,6 +1019,9 @@ def format_epilog(self, formatter):
     group_sim.add_option("", "--replay",
                          action='store_true',
                          help="enable replay logging for tests")
+    group_sim.add_option("--realflight-address",
+                         default=None,
+                         help="IP address of RealFlight simulator")
     parser.add_option_group(group_sim)
 
     group_completion = optparse.OptionGroup(parser, "Completion helpers")

Tools/autotest/default_params/realflight-titan-cobra.parm

@@ -0,0 +1,99 @@
+# Titan Cobra RealFlight ArduPilot 4.5
+AIRSPEED_CRUISE,12.4
+AIRSPEED_MAX,18
+AIRSPEED_MIN,11
+ARMING_RUDDER,2
+ARSPD_OFFSET,2013
+ARSPD_SKIP_CAL,1
+ARSPD_USE,1
+BATT_ARM_VOLT,14.7
+BATT_CAPACITY,10800
+BATT_CRT_VOLT,14
+BATT_LOW_VOLT,14.4
+FLIGHT_OPTIONS,1026
+FLTMODE_CH,8
+FLTMODE1,17
+FLTMODE2,17
+FLTMODE3,19
+FLTMODE4,19
+FLTMODE5,5
+FLTMODE6,5
+INS_GYRO_FILTER,36
+NAVL1_PERIOD,9
+PTCH_LIM_MIN_DEG,-14
+PTCH_RATE_D,0.00903
+PTCH_RATE_FF,1.042
+PTCH_RATE_FLTD,18
+PTCH_RATE_FLTT,2.122
+PTCH_RATE_I,1.042
+PTCH_RATE_P,0.806
+PTCH_TRIM_DEG,4.2
+PTCH2SRV_RMAX_DN,75
+PTCH2SRV_RMAX_UP,75
+PTCH2SRV_TCONST,0.75
+Q_A_ACCEL_P_MAX,53000
+Q_A_ACCEL_R_MAX,49000
+Q_A_ACCEL_Y_MAX,4500
+Q_A_ANG_PIT_P,6
+Q_A_ANG_RLL_P,6
+Q_A_ANG_YAW_P,1.8
+Q_A_RAT_PIT_D,0.00527
+Q_A_RAT_PIT_FLTD,18
+Q_A_RAT_PIT_FLTT,18
+Q_A_RAT_PIT_I,0.328
+Q_A_RAT_PIT_P,0.328
+Q_A_RAT_RLL_D,0.00707
+Q_A_RAT_RLL_FLTD,18
+Q_A_RAT_RLL_FLTT,18
+Q_A_RAT_RLL_I,0.385
+Q_A_RAT_RLL_P,0.385
+Q_A_RAT_YAW_FLTE,5
+Q_A_RAT_YAW_FLTT,18
+Q_A_RAT_YAW_I,0.2
+Q_A_RAT_YAW_P,2
+Q_A_THR_MIX_MAN,0.5
+Q_ACRO_PIT_RATE,100
+Q_ACRO_RLL_RATE,100
+Q_ACRO_YAW_RATE,50
+Q_ASSIST_SPEED,9
+Q_ENABLE,1
+Q_M_BAT_VOLT_MAX,16.8
+Q_M_BAT_VOLT_MIN,13.2
+Q_M_THST_EXPO,0.67
+Q_M_THST_HOVER,0.322
+Q_OPTIONS,16384
+Q_P_ACCZ_I,0.656
+Q_P_ACCZ_P,0.328
+Q_P_VELXY_P,4
+Q_PILOT_SPD_DN,1.5
+Q_PLT_Y_RATE,50
+Q_TRANS_DECEL,0.8
+Q_VFWD_ALT,5
+Q_VFWD_GAIN,0.1
+Q_WVANE_ANG_MIN,0.5
+Q_WVANE_GAIN,4
+Q_WVANE_HGT_MIN,2
+RC3_DZ,80
+RLL_RATE_D,0.00625
+RLL_RATE_FF,0.387
+RLL_RATE_FLTD,18
+RLL_RATE_FLTT,3.183
+RLL_RATE_I,0.251
+RLL_RATE_P,0.251
+RLL2SRV_RMAX,75
+SERVO2_FUNCTION,80
+SERVO2_TRIM,1600
+SERVO4_FUNCTION,79
+SERVO4_TRIM,1600
+STAB_PITCH_DOWN,2.5
+TECS_CLMB_MAX,5.6
+TECS_PITCH_MAX,0
+TECS_RLL2THR,7
+TECS_SINK_MAX,3
+TECS_SINK_MIN,1.5
+THROTTLE_NUDGE,0
+TRIM_THROTTLE,47
+WP_LOITER_RAD,70
+WP_RADIUS,70
+SIM_FTAX_OPTS,25
+LOG_BITMASK,0x10FFFF

Tools/autotest/quadplane.py

@@ -703,12 +703,21 @@ def default_mode(self):
         return "MANUAL"
 
     def disabled_tests(self):
-        return {
+        tests = {
             "FRSkyPassThrough": "Currently failing",
             "CPUFailsafe": "servo channel values not scaled like ArduPlane",
             "GyroFFT": "flapping test",
             "ConfigErrorLoop": "failing because RC values not settable",
         }
+        for test in self.tests():
+            name = ""
+            if isinstance(test, Test):
+                name = test.name
+            else:
+                name = test.__name__
+            if name.lower().startswith("realflight"):
+                tests[name] = "needs RealFlight"
+        return tests
 
     def BootInAUTO(self):
         '''Test behaviour when booting in auto'''
@@ -2072,6 +2081,46 @@ def WindEstimateConsistency(self):
                 self.progress("Wind estimates correlated")
                 break
 
+    def RealFlightTitanHover(self):
+        '''Test the RealFlight Titan Cobra'''
+        frame = "flightaxis"
+        if self.realflight_address is not None:
+            frame += f":{self.realflight_address}"
+        self.customise_SITL_commandline(
+            [
+                "--home", "40.0594626,-88.5513292,206.0,0",
+            ],
+            frame,
+            wipe=True,
+            defaults_filepath="Tools/autotest/default_params/realflight-titan-cobra.parm"
+        )
+        self.wait_ready_to_arm()
+        self.change_mode("QLOITER")
+        self.arm_vehicle()
+        self.set_rc(3, 2000)
+        self.wait_altitude(8, 12, relative=True)
+        self.set_rc(3, 1500)
+        stick_deflections = [
+            (2000, 1500, "roll right"),
+            (1500, 1500, "center"),
+            (1000, 1500, "roll left"),
+            (1500, 1500, "center"),
+            (1500, 2000, "pitch forward"),
+            (1500, 1500, "center"),
+            (1500, 1000, "pitch back"),
+            (1500, 1500, "center"),
+        ]
+        n_iterations = 10
+        for i in range(n_iterations):
+            print(f"Control input cycle: {i+1}/{n_iterations}")
+            for roll, pitch, msg in stick_deflections:
+                print(f"{msg}")
+                self.set_rc(1, roll)
+                self.set_rc(2, pitch)
+                self.delay_sim_time(0.5)
+        self.change_mode("QLAND")
+        self.wait_disarmed(timeout=120)
+
     def tests(self):
         '''return list of all tests'''
 
@@ -2123,5 +2172,6 @@ def tests(self):
             self.RTL_AUTOLAND_1,  # as in fly-home then go to landing sequence
             self.RTL_AUTOLAND_1_FROM_GUIDED,  # as in fly-home then go to landing sequence
             self.AHRSFlyForwardFlag,
+            self.RealFlightTitanHover,
         ])
         return ret

Tools/autotest/vehicle_test_suite.py

@@ -1906,6 +1906,7 @@ def __init__(self,
                  dronecan_tests=False,
                  generate_junit=False,
                  enable_fgview=False,
+                 realflight_address=None,
                  build_opts={}):
 
         self.start_time = time.time()
@@ -1973,6 +1974,7 @@ def __init__(self,
         self.in_drain_mav = False
         self.tlog = None
         self.enable_fgview = enable_fgview
+        self.realflight_address = realflight_address
 
         self.rc_thread = None
         self.rc_thread_should_quit = False