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autotest: augment PayLoadPlaceMission test to check drop distance

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This commit is contained in:
Peter Barker 2022-07-28 13:10:30 +10:00 committed by Peter Barker
parent f67877655b
commit 35d60d8025
1 changed files with 13 additions and 0 deletions
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13
Tools/autotest/arducopter.py
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@ -4351,6 +4351,8 @@ class AutoTestCopter(AutoTest):
self.reboot_sitl()
self.load_mission("copter_payload_place.txt")
if self.mavproxy is not None:
self.mavproxy.send('wp list\n')
self.set_parameter("AUTO_OPTIONS", 3)
self.change_mode('AUTO')
@ -4359,6 +4361,17 @@ class AutoTestCopter(AutoTest):
self.arm_vehicle()
self.wait_text("Gripper load releas", timeout=90)
dist_limit = 1
# this is a copy of the point in the mission file:
target_loc = mavutil.location(-35.363106,
149.165436,
0,
0)
dist = self.get_distance(target_loc, self.mav.location())
self.progress("dist=%f" % (dist,))
if dist > dist_limit:
raise NotAchievedException("Did not honour target lat/lng (dist=%f want <%f" %
(dist, dist_limit))
self.wait_disarmed()