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autotest: add a test for VTOL land spiral code

This commit is contained in:
Peter Barker 2023-01-14 12:04:22 +11:00 committed by Peter Barker
parent 77e63da4b3
commit 2b2bd2b85b
2 changed files with 14 additions and 0 deletions
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6
Tools/autotest/ArduPlane_Tests/VTOLLandSpiral/mission.txt Normal file
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@ -0,0 +1,6 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -27.274439 151.290064 343.100006 1
1 0 3 84 0.000000 0.000000 0.000000 0.000000 -27.274449 151.290081 20.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -27.264608 151.286680 198.659988 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -27.270692 151.290099 200.000000 1
4 0 3 85 1.000000 0.000000 0.000000 0.000000 -27.274428 151.290091 30.000000 1

8
Tools/autotest/quadplane.py
View File

@ -1096,6 +1096,13 @@ class AutoTestQuadPlane(AutoTest):
self.wait_disarmed(timeout=120) # give quadplane a long time to land
self.progress("Mission OK")
def VTOLLandSpiral(self):
'''check spiral-to-alt option for landing'''
self.fly_mission('mission.txt')
self.set_parameter('WP_LOITER_RAD', -self.get_parameter('WP_LOITER_RAD'))
self.set_current_waypoint(0, check_afterwards=False)
self.fly_mission('mission.txt')
def tests(self):
'''return list of all tests'''
@ -1119,5 +1126,6 @@ class AutoTestQuadPlane(AutoTest):
self.Ship,
self.MAV_CMD_NAV_LOITER_TO_ALT,
self.LoiterAltQLand,
self.VTOLLandSpiral,
])
return ret