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autotest: Added TECS test for constantly changing home alt

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George Zogopoulos 2024-11-25 16:05:15 +01:00 committed by Andrew Tridgell
parent 2ad74a2517
commit 2024eba262
1 changed files with 35 additions and 0 deletions
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35
Tools/autotest/arduplane.py
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@ -5,6 +5,7 @@ AP_FLAKE8_CLEAN
'''
from __future__ import print_function
import copy
import math
import os
import signal
@ -6241,10 +6242,43 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
higher_home = home
higher_home.alt += 40
self.set_home(higher_home)
self.change_mode(mode)
self.wait_altitude(15, 25, relative=True, minimum_duration=10)
self.disarm_vehicle(force=True)
self.reboot_sitl()
def SetHomeAltChange2(self):
'''ensure TECS operates predictably as home altitude changes continuously'''
'''
This can happen when performing a ship landing, where the home
coordinates are continuously set by the ship GNSS RX.
'''
self.set_parameter('TRIM_THROTTLE', 70)
self.wait_ready_to_arm()
home = self.home_position_as_mav_location()
target_alt = 20
self.takeoff(target_alt, mode="TAKEOFF")
self.change_mode("LOITER")
self.delay_sim_time(20) # Let the plane settle.
tstart = self.get_sim_time()
test_time = 10 # Run the test for 10s.
pub_freq = 10
for i in range(test_time*pub_freq):
tnow = self.get_sim_time()
higher_home = copy.copy(home)
# Produce 1Hz sine waves in home altitude change.
higher_home.alt += 40*math.sin((tnow-tstart)*(2*math.pi))
self.set_home(higher_home)
if tnow-tstart > test_time:
break
self.delay_sim_time(1.0/pub_freq)
# Test if the altitude is still within bounds.
self.wait_altitude(home.alt+target_alt-5, home.alt+target_alt+5, relative=False, minimum_duration=1, timeout=2)
self.disarm_vehicle(force=True)
self.reboot_sitl()
def ForceArm(self):
'''check force-arming functionality'''
self.set_parameter("SIM_GPS_DISABLE", 1)
@ -6513,6 +6547,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.ScriptStats,
self.GPSPreArms,
self.SetHomeAltChange,
self.SetHomeAltChange2,
self.ForceArm,
self.MAV_CMD_EXTERNAL_WIND_ESTIMATE,
self.GliderPullup,