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autotest: add a test for quadplane Q_GUIDED_MODE

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Peter Barker 2023-10-18 22:42:30 +11:00 committed by Peter Barker
parent 8d0c6c349f
commit 091c315fa4
1 changed files with 29 additions and 0 deletions
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29
Tools/autotest/quadplane.py
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@ -1485,6 +1485,34 @@ class AutoTestQuadPlane(AutoTest):
self.reboot_sitl() # unlock home position
def Q_GUIDED_MODE(self):
'''test moving in VTOL mode with SET_POSITION_TARGET_GLOBAL_INT'''
self.set_parameter('Q_GUIDED_MODE', 1)
self.change_mode('GUIDED')
self.wait_ready_to_arm()
self.arm_vehicle()
self.run_cmd(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, p7=15)
self.wait_altitude(14, 16, relative=True)
loc = self.mav.location()
self.location_offset_ne(loc, 50, 50)
# set position target
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_DO_REPOSITION,
0,
1, # reposition flags; 1 means "change to guided"
0,
0,
int(loc.lat * 1e7),
int(loc.lng * 1e7),
30, # alt
frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
)
self.wait_location(loc, timeout=120)
self.fly_home_land_and_disarm()
def tests(self):
'''return list of all tests'''
@ -1524,5 +1552,6 @@ class AutoTestQuadPlane(AutoTest):
self.mission_MAV_CMD_DO_VTOL_TRANSITION,
self.mavlink_MAV_CMD_DO_VTOL_TRANSITION,
self.MAV_CMD_NAV_TAKEOFF,
self.Q_GUIDED_MODE,
])
return ret