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autotest: ensure reasonable yawrate on takeoff in FlyEachFrame

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Peter Barker 2021-05-06 11:11:31 +10:00 committed by Andrew Tridgell
parent ba4634a775
commit 0564ba1870
1 changed files with 11 additions and 0 deletions
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11
Tools/autotest/arducopter.py
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@ -6640,7 +6640,18 @@ class AutoTestCopter(AutoTest):
model=model, model=model,
wipe=True, wipe=True,
) )
# add a listener that verifies yaw looks good:
def verify_yaw(mav, m):
if m.get_type() != 'ATTITUDE':
return
yawspeed_thresh_rads = math.radians(10)
if m.yawspeed > yawspeed_thresh_rads:
raise NotAchievedException("Excessive yaw on takeoff: %f deg/s > %f deg/s (frame=%s)" %
(math.degrees(m.yawspeed), math.degrees(yawspeed_thresh_rads), frame))
self.install_message_hook(verify_yaw)
self.takeoff(10) self.takeoff(10)
self.remove_message_hook(verify_yaw)
self.do_RTL() self.do_RTL()
def create_simple_relhome_mission(self, items_in, target_system=1, target_component=1): def create_simple_relhome_mission(self, items_in, target_system=1, target_component=1):