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AutoTest: Ensure Copter can RTL and Land even when Fence Floor has not been auto disabled

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This commit is contained in:
James O'Shannessy 2021-02-21 01:10:30 +11:00 committed by Peter Barker
parent f14e1c2799
commit 31462418c6
1 changed files with 4 additions and 3 deletions
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7
Tools/autotest/arducopter.py
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@ -1467,13 +1467,13 @@ class AutoTestCopter(AutoTest):
self.fly_fence_autoenable_arm_disarm()
def fly_fence_floor_enabled_landing(self):
"""fly_fence_floor_enabled_landing.
"""
""" fly_fence_floor_enabled_landing. Ensures we can initiate and complete
an RTL while the fence is enabled. """
fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
self.progress("Test Landing while fence floor enabled")
self.set_parameter("AVOID_ENABLE", 0)
self.set_parameter("FENCE_AUTOENABLE", 1)
self.set_parameter("FENCE_AUTOENABLE", 0)
self.set_parameter("FENCE_TYPE", 15)
self.set_parameter("FENCE_ALT_MIN", 10)
self.set_parameter("FENCE_ALT_MAX", 20)
@ -1484,6 +1484,7 @@ class AutoTestCopter(AutoTest):
self.user_takeoff(alt_min=15)
# Check fence is enabled
self.do_fence_enable()
self.assert_fence_enabled()
# Change to RC controlled mode