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autotest: tidy Copter flip test

This commit is contained in:
Peter Barker 2024-07-19 16:58:05 +10:00 committed by Peter Barker
parent a4bfab8cdc
commit 2f0f7aa669
1 changed files with 27 additions and 37 deletions
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64
Tools/autotest/arducopter.py
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@ -2266,46 +2266,36 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
def ModeFlip(self):
'''Fly Flip Mode'''
ex = None
try:
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_ATTITUDE, 100)
self.context_set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_ATTITUDE, 100)
self.takeoff(20)
self.hover()
old_speedup = self.get_parameter("SIM_SPEEDUP")
self.set_parameter('SIM_SPEEDUP', 1)
self.progress("Flipping in roll")
self.set_rc(1, 1700)
self.send_cmd_do_set_mode('FLIP') # don't wait for success
self.wait_attitude(despitch=0, desroll=45, tolerance=30)
self.wait_attitude(despitch=0, desroll=90, tolerance=30)
self.wait_attitude(despitch=0, desroll=-45, tolerance=30)
self.progress("Waiting for level")
self.set_rc(1, 1500) # can't change quickly enough!
self.wait_attitude(despitch=0, desroll=0, tolerance=5)
self.takeoff(20)
self.progress("Regaining altitude")
self.change_mode('ALT_HOLD')
self.wait_altitude(19, 60, relative=True)
self.progress("Flipping in roll")
self.set_rc(1, 1700)
self.send_cmd_do_set_mode('FLIP') # don't wait for success
self.wait_attitude(despitch=0, desroll=45, tolerance=30)
self.wait_attitude(despitch=0, desroll=90, tolerance=30)
self.wait_attitude(despitch=0, desroll=-45, tolerance=30)
self.progress("Waiting for level")
self.set_rc(1, 1500) # can't change quickly enough!
self.wait_attitude(despitch=0, desroll=0, tolerance=5)
self.progress("Flipping in pitch")
self.set_rc(2, 1700)
self.send_cmd_do_set_mode('FLIP') # don't wait for success
self.wait_attitude(despitch=45, desroll=0, tolerance=30)
# can't check roll here as it flips from 0 to -180..
self.wait_attitude(despitch=90, tolerance=30)
self.wait_attitude(despitch=-45, tolerance=30)
self.progress("Waiting for level")
self.set_rc(2, 1500) # can't change quickly enough!
self.wait_attitude(despitch=0, desroll=0, tolerance=5)
self.set_parameter('SIM_SPEEDUP', old_speedup)
self.do_RTL()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_ATTITUDE, 0)
if ex is not None:
raise ex
self.progress("Regaining altitude")
self.change_mode('ALT_HOLD')
self.wait_altitude(19, 60, relative=True)
self.progress("Flipping in pitch")
self.set_rc(2, 1700)
self.send_cmd_do_set_mode('FLIP') # don't wait for success
self.wait_attitude(despitch=45, desroll=0, tolerance=30)
# can't check roll here as it flips from 0 to -180..
self.wait_attitude(despitch=90, tolerance=30)
self.wait_attitude(despitch=-45, tolerance=30)
self.progress("Waiting for level")
self.set_rc(2, 1500) # can't change quickly enough!
self.wait_attitude(despitch=0, desroll=0, tolerance=5)
self.do_RTL()
def configure_EKFs_to_use_optical_flow_instead_of_GPS(self):
'''configure EKF to use optical flow instead of GPS'''