Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-21 16:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

autotest: add test for flying mission twice back-to-back

Browse Source
This commit is contained in:
Peter Barker 2021-09-03 16:58:51 +10:00 committed by Peter Barker
parent ab6886f056
commit 357a39adba
1 changed files with 23 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
Tools/autotest/arducopter.py
View File

@ -3097,6 +3097,27 @@ class AutoTestCopter(AutoTest):
if not self.current_onboard_log_contains_message("XKFD"):
raise NotAchievedException("Did not find expected XKFD message")
def FlyMissionTwice(self):
'''fly a mission twice in a row without changing modes in between.
Seeks to show bugs in mission state machine'''
self.upload_simple_relhome_mission([
(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 20),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 20, 0, 20),
(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
])
num_wp = self.get_mission_count()
self.set_parameter("AUTO_OPTIONS", 3)
self.change_mode('AUTO')
self.wait_ready_to_arm()
for i in 1, 2:
self.progress("run %u" % i)
self.arm_vehicle()
self.wait_waypoint(num_wp-1, num_wp-1)
self.wait_disarmed()
self.delay_sim_time(20)
def GPSViconSwitching(self):
"""Fly GPS and Vicon switching test"""
self.customise_SITL_commandline(["--uartF=sim:vicon:"])
@ -9651,6 +9672,7 @@ class AutoTestCopter(AutoTest):
self.TerrainDBPreArm,
self.ThrottleGainBoost,
self.ScriptMountPOI,
self.FlyMissionTwice,
])
return ret
@ -9678,6 +9700,7 @@ class AutoTestCopter(AutoTest):
"AltEstimation": "See https://github.com/ArduPilot/ardupilot/issues/15191",
"GroundEffectCompensation_takeOffExpected": "Flapping",
"GroundEffectCompensation_touchDownExpected": "Flapping",
"FlyMissionTwice": "See https://github.com/ArduPilot/ardupilot/pull/18561",
}