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Tools: autotest: add test for flying spline waypoints

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Peter Barker 2019-04-16 11:44:29 +10:00 committed by Peter Barker
parent 5e69758661
commit 18ed422a97
1 changed files with 19 additions and 0 deletions
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19
Tools/autotest/arducopter.py
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@ -3301,6 +3301,21 @@ class AutoTestHeli(AutoTestCopter):
if ex is not None:
raise ex
def fly_spline_waypoint(self):
"""ensure basic spline functionality works"""
self.load_mission("copter_spline_mission.txt")
self.change_mode("LOITER")
self.wait_ready_to_arm()
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
self.arm_vehicle()
self.wait_seconds(20)
self.change_mode("AUTO")
self.set_rc(3, 1500)
self.mav.motors_disarmed_wait()
self.progress("Lowering rotor speed")
self.set_rc(8, 1000)
def set_rc_default(self):
super(AutoTestCopter, self).set_rc_default()
self.progress("Lowering rotor speed")
@ -3316,6 +3331,10 @@ class AutoTestHeli(AutoTestCopter):
"Fly POSHOLD takeoff",
self.fly_heli_poshold_takeoff),
("SplineWaypoint",
"Fly Spline Waypoints",
self.fly_spline_waypoint),
("LogDownLoad",
"Log download",
lambda: self.log_download(