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autotest: neaten Copter Loiter test

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Peter Barker 2024-05-21 10:10:45 +10:00 committed by Peter Barker
parent f930ba788b
commit 37886b36e0
1 changed files with 17 additions and 26 deletions
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43
Tools/autotest/arducopter.py
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@ -435,48 +435,39 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.context_push()
ex = None
try:
self.set_parameters({
"PLND_ENABLED": 1,
"PLND_TYPE": 4,
})
self.set_parameters({
"PLND_ENABLED": 1,
"PLND_TYPE": 4,
})
self.set_analog_rangefinder_parameters()
self.set_analog_rangefinder_parameters()
self.reboot_sitl()
self.reboot_sitl()
num_wp = self.load_mission("copter_loiter_to_alt.txt")
num_wp = self.load_mission("copter_loiter_to_alt.txt")
self.change_mode('LOITER')
self.change_mode('LOITER')
self.install_terrain_handlers_context()
self.wait_ready_to_arm()
self.install_terrain_handlers_context()
self.wait_ready_to_arm()
self.arm_vehicle()
self.arm_vehicle()
self.change_mode('AUTO')
self.change_mode('AUTO')
self.set_rc(3, 1550)
self.set_rc(3, 1550)
self.wait_current_waypoint(2)
self.wait_current_waypoint(2)
self.set_rc(3, 1500)
self.set_rc(3, 1500)
self.wait_waypoint(0, num_wp-1, timeout=500)
self.wait_waypoint(0, num_wp-1, timeout=500)
self.wait_disarmed()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.wait_disarmed()
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
# Tests all actions and logic behind the radio failsafe
def ThrottleFailsafe(self, side=60, timeout=360):
'''Test Throttle Failsafe'''