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Sub: add test to make sure changing modes does not cause altitude changes

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This commit is contained in:
Willian Galvani 2022-09-27 23:41:41 -03:00
parent 97c626bbc1
commit 1f19bf6c68
1 changed files with 34 additions and 0 deletions
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34
Tools/autotest/ardusub.py
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@ -222,6 +222,39 @@ class AutoTestSub(AutoTest):
self.delay_sim_time(5) self.delay_sim_time(5)
self.disarm_vehicle() self.disarm_vehicle()
def test_mode_changes(self, delta=0.2):
"""Check if alternating between ALTHOLD, STABILIZE and POSHOLD affects altitude"""
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_parameter("SIM_BUOYANCY", 0)
self.set_parameter("SIM_BARO_RND", 0)
self.change_mode('STABILIZE')
self.set_rc(Joystick.Throttle, 1350)
self.delay_sim_time(10)
self.set_rc(Joystick.Throttle, 1500)
self.delay_sim_time(3)
previous_altitude = self.mav.recv_match(type='VFR_HUD', blocking=True).alt
self.change_mode('ALT_HOLD')
self.delay_sim_time(2)
self.change_mode('POSHOLD')
self.delay_sim_time(2)
self.change_mode('STABILIZE')
self.delay_sim_time(2)
self.change_mode('ALT_HOLD')
self.delay_sim_time(2)
self.change_mode('STABILIZE')
self.delay_sim_time(2)
self.change_mode('ALT_HOLD')
self.delay_sim_time(2)
self.change_mode('MANUAL')
self.disarm_vehicle()
final_altitude = self.mav.recv_match(type='VFR_HUD', blocking=True).alt
if abs(previous_altitude - final_altitude) > delta:
raise NotAchievedException(
"Changing modes affected depth with no throttle input!, started at {}, ended at {}"
.format(previous_altitude, final_altitude)
)
def test_pos_hold(self): def test_pos_hold(self):
"""Test POSHOLD mode""" """Test POSHOLD mode"""
self.wait_ready_to_arm() self.wait_ready_to_arm()
@ -453,6 +486,7 @@ class AutoTestSub(AutoTest):
("AltitudeHold", "Test altitude holde mode", self.test_alt_hold), ("AltitudeHold", "Test altitude holde mode", self.test_alt_hold),
("PositionHold", "Test position hold mode", self.test_pos_hold), ("PositionHold", "Test position hold mode", self.test_pos_hold),
("ModeChanges", "Test if mode changes affect altitude", self.test_mode_changes),
("DiveMission", ("DiveMission",
"Dive mission", "Dive mission",