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https://github.com/ArduPilot/ardupilot
synced 2025-02-21 07:13:56 -04:00
Tools: copter: add wait land and disarm functions
This commit is contained in:
Pierre Kancir
Peter Barker
parent
3b5bd9956d
commit
3080899b43
@ -150,7 +150,11 @@ class AutoTestCopter(AutoTest):
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"""Land the quad."""
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self.progress("STARTING LANDING")
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self.change_mode("LAND")
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self.wait_altitude(-5, 1, relative=True, timeout=timeout)
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self.wait_landed_and_disarmed(timeout=timeout)
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def wait_landed_and_disarmed(self, min_alt=4, timeout=60):
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"""Wait to be landed and disarmed"""
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self.wait_altitude(-5, min_alt, relative=True, timeout=timeout)
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self.progress("LANDING: ok!")
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self.wait_disarmed()
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@ -396,8 +400,7 @@ class AutoTestCopter(AutoTest):
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self.change_mode('AUTO')
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self.wait_waypoint(0, num_wp-1, timeout=500)
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self.progress("test: MISSION COMPLETE: passed!")
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self.change_mode('LAND')
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self.wait_disarmed()
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self.land_and_disarm()
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# enter RTL mode and wait for the vehicle to disarm
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def do_RTL(self, distance_min=None, distance_max=10, timeout=250):
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@ -520,7 +523,7 @@ class AutoTestCopter(AutoTest):
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self.takeoffAndMoveAway()
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self.set_parameter("SIM_RC_FAIL", 1)
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self.wait_mode("LAND")
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self.wait_disarmed()
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self.wait_landed_and_disarmed()
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self.set_parameter("SIM_RC_FAIL", 0)
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self.end_subtest("Completed Radio failsafe LAND with no options test")
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@ -552,7 +555,7 @@ class AutoTestCopter(AutoTest):
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self.delay_sim_time(5)
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self.set_parameter("SIM_RC_FAIL", 1)
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self.wait_mode("LAND")
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self.wait_disarmed()
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self.wait_landed_and_disarmed()
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self.set_parameter("SIM_RC_FAIL", 0)
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self.set_parameter('SIM_GPS_DISABLE', 0)
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self.wait_ekf_happy()
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@ -566,7 +569,7 @@ class AutoTestCopter(AutoTest):
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self.delay_sim_time(5)
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self.set_parameter("SIM_RC_FAIL", 1)
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self.wait_mode("LAND")
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self.wait_disarmed()
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self.wait_landed_and_disarmed()
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self.set_parameter("SIM_RC_FAIL", 0)
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self.set_parameter('SIM_GPS_DISABLE', 0)
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self.wait_ekf_happy()
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@ -580,7 +583,7 @@ class AutoTestCopter(AutoTest):
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self.delay_sim_time(5)
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self.set_parameter("SIM_RC_FAIL", 1)
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self.wait_mode("LAND")
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self.wait_disarmed()
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self.wait_landed_and_disarmed()
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self.set_parameter("SIM_RC_FAIL", 0)
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self.set_parameter('SIM_GPS_DISABLE', 0)
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self.wait_ekf_happy()
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@ -612,7 +615,7 @@ class AutoTestCopter(AutoTest):
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self.delay_sim_time(5)
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self.set_parameter("SIM_RC_FAIL", 1)
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self.wait_mode("LAND")
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self.wait_disarmed()
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self.wait_landed_and_disarmed()
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self.set_parameter("SIM_RC_FAIL", 0)
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self.end_subtest("Completed Radio failsafe SmartRTL->LAND fails into land mode due to no path.")
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@ -715,7 +718,7 @@ class AutoTestCopter(AutoTest):
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self.takeoffAndMoveAway()
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self.set_heartbeat_rate(0)
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self.wait_mode("LAND")
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self.wait_disarmed()
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self.wait_landed_and_disarmed()
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self.set_heartbeat_rate(self.speedup)
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self.mavproxy.expect("GCS Failsafe Cleared")
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self.end_subtest("Completed GCS failsafe land with no options test")
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@ -788,7 +791,7 @@ class AutoTestCopter(AutoTest):
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self.mavproxy.expect("GCS Failsafe - Continuing Landing")
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self.delay_sim_time(5)
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self.wait_mode("LAND")
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self.wait_disarmed()
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self.wait_landed_and_disarmed()
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self.set_heartbeat_rate(self.speedup)
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self.mavproxy.expect("GCS Failsafe Cleared")
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self.end_subtest("Completed GCS failsafe with option bits")
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@ -858,7 +861,7 @@ class AutoTestCopter(AutoTest):
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self.mavproxy.expect("Battery 1 is critical")
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self.delay_sim_time(5)
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self.wait_mode("LAND")
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self.wait_disarmed()
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self.wait_landed_and_disarmed()
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self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
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self.reboot_sitl_mavproxy()
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self.end_subtest("Completed two stage battery failsafe test with RTL and Land")
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@ -894,7 +897,7 @@ class AutoTestCopter(AutoTest):
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self.mavproxy.expect("Battery 1 is low")
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self.delay_sim_time(5)
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self.wait_mode("LAND")
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self.wait_disarmed()
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self.wait_landed_and_disarmed()
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self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
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self.reboot_sitl_mavproxy()
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self.end_subtest("Completed battery failsafe with FS_OPTIONS set to continue landing")
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@ -914,7 +917,7 @@ class AutoTestCopter(AutoTest):
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self.set_parameter("SIM_RC_FAIL", 1)
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self.delay_sim_time(10)
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self.wait_mode("LAND")
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self.wait_disarmed()
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self.wait_landed_and_disarmed()
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self.set_parameter('SIM_BATT_VOLTAGE', 12.5)
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self.set_parameter("SIM_RC_FAIL", 0)
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self.reboot_sitl_mavproxy()
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@ -1190,8 +1193,7 @@ class AutoTestCopter(AutoTest):
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# reduce throttle
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self.zero_throttle()
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self.change_mode("LAND")
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self.progress("Waiting for disarm")
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self.wait_disarmed()
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self.wait_landed_and_disarmed()
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self.progress("Reached home OK")
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self.zero_throttle()
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return
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@ -1718,7 +1720,7 @@ class AutoTestCopter(AutoTest):
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self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
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# near enough for now:
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self.change_mode('LAND')
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self.wait_disarmed()
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self.wait_landed_and_disarmed()
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# check the original gains have been re-instated
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if (rlld != self.get_parameter("ATC_RAT_RLL_D")
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or rlli != self.get_parameter("ATC_RAT_RLL_I")
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@ -2551,7 +2553,7 @@ class AutoTestCopter(AutoTest):
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self.zero_throttle()
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self.takeoff(10, 1800)
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self.change_mode("LAND")
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self.wait_disarmed()
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self.wait_landed_and_disarmed()
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self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
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new_pos = self.mav.location()
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delta = self.get_distance(target, new_pos)
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@ -4384,7 +4386,7 @@ class AutoTestCopter(AutoTest):
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self.fly_guided_move_to(low_position, timeout=240)
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self.change_mode('LAND')
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# expecting home to change when disarmed
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self.wait_disarmed()
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self.wait_landed_and_disarmed()
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# wait a while for home to move (it shouldn't):
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self.delay_sim_time(10)
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m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
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@ -4567,9 +4569,7 @@ class AutoTestCopter(AutoTest):
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except Exception as e:
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ex = e
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self.mavproxy.send('mode LAND\n')
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self.wait_mode('LAND')
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self.wait_disarmed()
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self.land_and_disarm()
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self.set_rc(8, 1000)
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self.context_pop()
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@ -5567,9 +5567,7 @@ class AutoTestHeli(AutoTestCopter):
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self.progress("Runup time %u" % runup_time)
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self.zero_throttle()
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self.set_rc(8, 1000)
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self.mavproxy.send('mode LAND\n')
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self.wait_mode('LAND')
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self.mav.motors_disarmed_wait()
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self.land_and_disarm()
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self.mav.wait_heartbeat()
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# fly_avc_test - fly AVC mission
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@ -5667,9 +5665,7 @@ class AutoTestHeli(AutoTestCopter):
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except Exception as e:
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ex = e
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self.mavproxy.send('mode LAND\n')
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self.wait_mode('LAND')
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self.wait_disarmed()
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self.land_and_disarm()
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self.set_rc(8, 1000)
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self.context_pop()
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@ -5708,9 +5704,7 @@ class AutoTestHeli(AutoTestCopter):
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except Exception as e:
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ex = e
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self.mavproxy.send('mode LAND\n')
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self.wait_mode('LAND')
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self.wait_disarmed()
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self.land_and_disarm()
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self.set_rc(8, 1000)
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self.context_pop()
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