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autotest: add test for MAV_CMD_GUIDED_CHANGE_ALTITUDE

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Peter Barker 2023-08-08 08:45:25 +10:00 committed by Peter Barker
parent fe56a6aedd
commit 10f93b9e50
1 changed files with 26 additions and 0 deletions
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26
Tools/autotest/arduplane.py
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@ -4636,6 +4636,31 @@ class AutoTestPlane(AutoTest):
]) ])
self.start_SITL() self.start_SITL()
def MAV_CMD_GUIDED_CHANGE_ALTITUDE(self):
'''test handling of MAV_CMD_GUIDED_CHANGE_ALTITUDE'''
self.takeoff(30, relative=True)
self.change_mode('GUIDED')
for alt in 50, 70:
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_GUIDED_CHANGE_ALTITUDE,
p7=alt,
frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
)
self.wait_altitude(alt-1, alt+1, timeout=30, relative=True)
# test for #24535
self.change_mode('LOITER')
self.delay_sim_time(5)
self.change_mode('GUIDED')
self.wait_altitude(
alt-3, # NOTE: reuse of alt from above loop!
alt+3,
minimum_duration=10,
timeout=30,
relative=True,
)
self.fly_home_land_and_disarm()
def tests(self): def tests(self):
'''return list of all tests''' '''return list of all tests'''
ret = super(AutoTestPlane, self).tests() ret = super(AutoTestPlane, self).tests()
@ -4725,6 +4750,7 @@ class AutoTestPlane(AutoTest):
self.NoArmWithoutMissionItems, self.NoArmWithoutMissionItems,
self.MODE_SWITCH_RESET, self.MODE_SWITCH_RESET,
self.ExternalPositionEstimate, self.ExternalPositionEstimate,
self.MAV_CMD_GUIDED_CHANGE_ALTITUDE,
]) ])
return ret return ret