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autotest: add SmartRTL test for rapid switch between smartrtl and althold

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Peter Barker 2021-05-12 11:09:16 +10:00 committed by Peter Barker
parent 82d59f6ba7
commit 1f60ca3342
1 changed files with 19 additions and 0 deletions
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19
Tools/autotest/arducopter.py
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@ -9698,6 +9698,23 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
if ex is not None: if ex is not None:
raise ex raise ex
def SMART_RTL_EnterLeave(self):
'''check SmartRTL behaviour when entering/leaving'''
# we had a bug where we would consume points when re-entering smartrtl
self.upload_simple_relhome_mission([
# N E U
(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 10),
(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
])
self.set_parameter('AUTO_OPTIONS', 3)
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.change_mode('ALT_HOLD')
self.change_mode('SMART_RTL')
self.change_mode('ALT_HOLD')
self.change_mode('SMART_RTL')
def GPSForYawCompassLearn(self): def GPSForYawCompassLearn(self):
'''Moving baseline GPS yaw - with compass learning''' '''Moving baseline GPS yaw - with compass learning'''
self.context_push() self.context_push()
@ -11711,6 +11728,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.GSF_reset, self.GSF_reset,
self.AP_Avoidance, self.AP_Avoidance,
self.SMART_RTL, self.SMART_RTL,
self.SMART_RTL_EnterLeave,
self.RTL_TO_RALLY, self.RTL_TO_RALLY,
self.FlyEachFrame, self.FlyEachFrame,
self.GPSBlending, self.GPSBlending,
@ -11864,6 +11882,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
"FlyMissionTwice": "See https://github.com/ArduPilot/ardupilot/pull/18561", "FlyMissionTwice": "See https://github.com/ArduPilot/ardupilot/pull/18561",
"GPSForYawCompassLearn": "Vehicle currently crashed in spectacular fashion", "GPSForYawCompassLearn": "Vehicle currently crashed in spectacular fashion",
"CompassMot": "Cuases an arithmetic exception in the EKF", "CompassMot": "Cuases an arithmetic exception in the EKF",
"SMART_RTL_EnterLeave": "Causes a panic",
} }