mirror of https://github.com/ArduPilot/ardupilot
AutoTest: Copter remove FENCE_AUTOENABLE tests
Addresses comments made in review, removes the FENCE_AUTOENABLE param for copter. No param means no tests required.
This commit is contained in:
James O'Shannessy
Peter Barker
parent
d055d7a581
commit
269fa5cbe2
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@ -1379,93 +1379,6 @@ class AutoTestCopter(AutoTest):
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self.zero_throttle()
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self.zero_throttle()
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def fly_fence_autoenable_always_disabled(self):
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self.progress("Test AutoEnable Fence - AutoEnable Disabled")
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self.context_push()
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self.set_parameter("FENCE_AUTOENABLE", 0)
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self.assert_fence_disabled()
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self.change_mode("GUIDED")
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.user_takeoff(alt_min=10)
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# Check fence is still disabled
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self.assert_fence_disabled()
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self.change_mode('LAND')
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# Fence disables at start of landing, check fence is disabled
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self.assert_fence_disabled()
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self.wait_landed_and_disarmed()
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self.context_pop()
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def fly_fence_autoenable_always_after_takeoff(self):
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self.progress("Test AutoEnable Fence - After Takeoff Complete")
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self.context_push()
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self.set_parameter("FENCE_AUTOENABLE", 1)
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self.change_mode("GUIDED")
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.user_takeoff(alt_min=10)
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# Check fence is enabled
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self.assert_fence_enabled(timeout=10)
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self.change_mode('LAND')
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# Fence disables at start of landing, check fence is disabled
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self.assert_fence_disabled()
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self.wait_landed_and_disarmed()
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self.context_pop()
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def fly_fence_autoenable_after_takeoff_disable_floor_on_land(self):
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self.progress("Test AutoEnable Fence - Enable after Takeoff, Disable floor on land")
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self.context_push()
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self.set_parameter("FENCE_AUTOENABLE", 2)
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self.change_mode("GUIDED")
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.user_takeoff(alt_min=10)
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# Check fence is enabled
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self.assert_fence_enabled()
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self.change_mode('LAND')
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# Fence disables at start of landing, check fence is disabled
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self.assert_fence_enabled()
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self.wait_landed_and_disarmed()
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self.context_pop()
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def fly_fence_autoenable_arm_disarm(self):
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self.progress("Test AutoEnable Fence - Enable on Arming, Disable on Disarm")
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self.context_push()
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self.set_parameter("FENCE_AUTOENABLE", 3)
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self.change_mode("GUIDED")
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self.wait_ready_to_arm()
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self.arm_vehicle()
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# Fence enables on arming, check fence is enabled
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self.assert_fence_enabled()
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self.disarm_vehicle(force=True)
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# Fence disables on disarm, check fence is disabled
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self.assert_fence_disabled()
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self.context_pop()
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def fly_fence_autoenable_test(self):
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"""fly_fence_autoenable_test. Fly test missions to auto-enable
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fence. Tests all auto-enable conditions"""
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self.progress("Test Fence Auto-Enable Conditions")
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self.set_parameter("FENCE_ENABLE", 0)
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self.set_parameter("FENCE_TYPE", 15)
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self.set_parameter("FENCE_ALT_MIN", -10)
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self.fly_fence_autoenable_always_disabled()
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self.fly_fence_autoenable_always_after_takeoff()
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self.fly_fence_autoenable_after_takeoff_disable_floor_on_land()
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self.fly_fence_autoenable_arm_disarm()
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def fly_fence_floor_enabled_landing(self):
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def fly_fence_floor_enabled_landing(self):
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""" fly_fence_floor_enabled_landing. Ensures we can initiate and complete
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""" fly_fence_floor_enabled_landing. Ensures we can initiate and complete
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an RTL while the fence is enabled. """
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an RTL while the fence is enabled. """
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@ -1473,7 +1386,6 @@ class AutoTestCopter(AutoTest):
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self.progress("Test Landing while fence floor enabled")
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self.progress("Test Landing while fence floor enabled")
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self.set_parameter("AVOID_ENABLE", 0)
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self.set_parameter("AVOID_ENABLE", 0)
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self.set_parameter("FENCE_AUTOENABLE", 0)
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self.set_parameter("FENCE_TYPE", 15)
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self.set_parameter("FENCE_TYPE", 15)
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self.set_parameter("FENCE_ALT_MIN", 10)
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self.set_parameter("FENCE_ALT_MIN", 10)
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self.set_parameter("FENCE_ALT_MAX", 20)
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self.set_parameter("FENCE_ALT_MAX", 20)
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@ -6651,10 +6563,6 @@ class AutoTestCopter(AutoTest):
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"Test Min Alt Fence",
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"Test Min Alt Fence",
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self.fly_alt_min_fence_test), # 26s
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self.fly_alt_min_fence_test), # 26s
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("FenceAutoEnable",
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"Test Fence Auto-Enable conditions",
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self.fly_fence_autoenable_test),
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("FenceFloorEnabledLanding",
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("FenceFloorEnabledLanding",
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"Test Landing with Fence floor enabled",
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"Test Landing with Fence floor enabled",
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self.fly_fence_floor_enabled_landing),
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self.fly_fence_floor_enabled_landing),
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