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autotest: test simulated ship takeoff

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Peter Barker 2020-06-29 20:36:00 +10:00 committed by Andrew Tridgell
parent fb5a06b8da
commit 2c1d77bf8f
1 changed files with 19 additions and 0 deletions
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19
Tools/autotest/arducopter.py
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@ -4955,6 +4955,21 @@ class AutoTestCopter(AutoTest):
self.fly_rangefinder_mavlink() self.fly_rangefinder_mavlink()
def fly_ship_takeoff(self):
# test ship takeoff
self.wait_groundspeed(0, 2)
self.set_parameter("SIM_SHIP_ENABLE", 1)
self.set_parameter("SIM_SHIP_SPEED", 10)
self.set_parameter("SIM_SHIP_DSIZE", 2)
self.wait_ready_to_arm()
# we should be moving with the ship
self.wait_groundspeed(9, 11)
self.takeoff(10)
# above ship our speed drops to 0
self.wait_groundspeed(0, 2)
self.land_and_disarm()
# ship will have moved on, so we land on the water which isn't moving
self.wait_groundspeed(0, 2)
def test_parameter_validation(self): def test_parameter_validation(self):
self.progress("invalid; min must be less than max:") self.progress("invalid; min must be less than max:")
@ -5155,6 +5170,10 @@ class AutoTestCopter(AutoTest):
"Test Buttons", "Test Buttons",
self.test_button), self.test_button),
("ShipTakeoff",
"Fly Simulated Ship Takeoff",
self.fly_ship_takeoff),
("RangeFinder", ("RangeFinder",
"Test RangeFinder Basic Functionality", "Test RangeFinder Basic Functionality",
self.test_rangefinder), self.test_rangefinder),