Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

autotest: add test for return-to-initial-yaw RTL behaviour

Browse Source
This commit is contained in:
Peter Barker 2024-12-27 13:58:53 +11:00 committed by Peter Barker
parent 79e8c89cd4
commit 13f9ad8f8c
1 changed files with 22 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
Tools/autotest/arducopter.py
View File

@ -12311,6 +12311,27 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
# Test done
self.land_and_disarm()
def RTLYaw(self):
'''test that vehicle yaws to original heading on RTL'''
# 0 is WP_YAW_BEHAVIOR_NONE
# 1 is WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP
# 2 is WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL
# 3 is WP_YAW_BEHAVIOR_LOOK_AHEAD
for behaviour in 1, 3:
self.set_parameters({
'WP_YAW_BEHAVIOR': behaviour,
})
self.change_mode('GUIDED')
original_heading = self.get_heading()
target_heading = 100
if original_heading - target_heading < 90:
raise NotAchievedException("Bad initial heading")
self.takeoff(10, mode='GUIDED')
self.guided_achieve_heading(target_heading)
self.change_mode('RTL')
self.wait_heading(original_heading)
self.wait_disarmed()
def tests2b(self): # this block currently around 9.5mins here
'''return list of all tests'''
ret = ([
@ -12340,6 +12361,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.SMART_RTL_EnterLeave,
self.SMART_RTL_Repeat,
self.RTL_TO_RALLY,
self.RTLYaw,
self.FlyEachFrame,
self.GPSBlending,
self.GPSWeightedBlending,