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autotest: Added Copter Smart RTL repeat detection test

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Michelle Rossouw 2024-12-20 22:17:06 +11:00 committed by Peter Barker
parent ccf4407d44
commit 106e131591
1 changed files with 11 additions and 0 deletions
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11
Tools/autotest/arducopter.py
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@ -9976,6 +9976,15 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.change_mode('ALT_HOLD')
self.change_mode('SMART_RTL')
def SMART_RTL_Repeat(self):
'''Test whether Smart RTL catches the repeat'''
self.takeoff(alt_min=10, mode='GUIDED')
self.set_rc(3, 1500)
self.change_mode("CIRCLE")
self.delay_sim_time(1300)
self.change_mode("SMART_RTL")
self.wait_disarmed()
def GPSForYawCompassLearn(self):
'''Moving baseline GPS yaw - with compass learning'''
self.context_push()
@ -12299,6 +12308,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.AP_Avoidance,
self.SMART_RTL,
self.SMART_RTL_EnterLeave,
self.SMART_RTL_Repeat,
self.RTL_TO_RALLY,
self.FlyEachFrame,
self.GPSBlending,
@ -12461,6 +12471,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
"GPSForYawCompassLearn": "Vehicle currently crashed in spectacular fashion",
"CompassMot": "Cuases an arithmetic exception in the EKF",
"SMART_RTL_EnterLeave": "Causes a panic",
"SMART_RTL_Repeat": "Currently fails due to issue with loop detection",
}