From 3982d576eb5d714ac62ac91386f1ec9450d54800 Mon Sep 17 00:00:00 2001 From: Bob Long Date: Thu, 19 Dec 2024 13:50:28 +1100 Subject: [PATCH] autotest: plane: enable ICE frames in FlyEachFrame Now that starter control is an aux channel, engine commands are no longer blocked by default, so it's easy to enable ICE frames by adding an engine start command to the beginning of the missions. --- .../FlyEachFrame/basic-quadplane.txt | 23 ++++++++++--------- .../ArduPlane_Tests/FlyEachFrame/basic.txt | 23 ++++++++++--------- Tools/autotest/arduplane.py | 2 -- Tools/autotest/default_params/plane-ice.parm | 1 + 4 files changed, 25 insertions(+), 24 deletions(-) diff --git a/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic-quadplane.txt b/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic-quadplane.txt index d4ec44c2e0..af7a9afbf3 100644 --- a/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic-quadplane.txt +++ b/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic-quadplane.txt @@ -1,13 +1,14 @@ QGC WPL 110 0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.390015 1 -1 0 3 84 0.000000 0.000000 0.000000 0.000000 -35.361279 149.164230 30.000000 1 -2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361229 149.163025 80.000000 1 -3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364563 149.163773 80.000000 1 -4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364384 149.164795 80.000000 1 -5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361027 149.164093 80.000000 1 -6 0 0 177 2.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 -7 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.362915 149.162613 60.000000 1 -8 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363136 149.162750 60.000000 1 -9 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365467 149.164215 55.000000 1 -10 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365009 149.165482 39.889999 1 -11 0 3 85 0.000000 0.000000 0.000000 1.000000 -35.363041 149.165222 0.000000 1 +1 0 0 223 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 +2 0 3 84 0.000000 0.000000 0.000000 0.000000 -35.361279 149.164230 30.000000 1 +3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361229 149.163025 80.000000 1 +4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364563 149.163773 80.000000 1 +5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364384 149.164795 80.000000 1 +6 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361027 149.164093 80.000000 1 +7 0 0 177 2.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 +8 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.362915 149.162613 60.000000 1 +9 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363136 149.162750 60.000000 1 +10 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365467 149.164215 55.000000 1 +11 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365009 149.165482 39.889999 1 +12 0 3 85 0.000000 0.000000 0.000000 1.000000 -35.363041 149.165222 0.000000 1 diff --git a/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic.txt b/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic.txt index b6a88b10c2..51f0935066 100644 --- a/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic.txt +++ b/Tools/autotest/ArduPlane_Tests/FlyEachFrame/basic.txt @@ -1,13 +1,14 @@ QGC WPL 110 0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.390015 1 -1 0 3 22 15.000000 0.000000 0.000000 0.000000 -35.361279 149.164230 30.000000 1 -2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361229 149.163025 80.000000 1 -3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364563 149.163773 80.000000 1 -4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364384 149.164795 80.000000 1 -5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361027 149.164093 80.000000 1 -6 0 0 177 2.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 -7 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.362915 149.162613 60.000000 1 -8 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363136 149.162750 60.000000 1 -9 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365467 149.164215 55.000000 1 -10 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365009 149.165482 39.889999 1 -11 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.363041 149.165222 0.000000 1 +1 0 0 223 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 +2 0 3 22 15.000000 0.000000 0.000000 0.000000 -35.361279 149.164230 30.000000 1 +3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361229 149.163025 80.000000 1 +4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364563 149.163773 80.000000 1 +5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364384 149.164795 80.000000 1 +6 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361027 149.164093 80.000000 1 +7 0 0 177 2.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 +8 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.362915 149.162613 60.000000 1 +9 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363136 149.162750 60.000000 1 +10 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365467 149.164215 55.000000 1 +11 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365009 149.165482 39.889999 1 +12 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.363041 149.165222 0.000000 1 diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index 004f16737f..2aa1390402 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -4201,8 +4201,6 @@ class AutoTestPlane(vehicle_test_suite.TestSuite): vinfo_options = vinfo.options[self.vehicleinfo_key()] known_broken_frames = { "plane-tailsitter": "unstable in hover; unflyable in cruise", - "plane-ice" : "needs ICE control channel for ignition", - "quadplane-ice" : "needs ICE control channel for ignition", "quadplane-can" : "needs CAN periph", "stratoblimp" : "not expected to fly normally", "glider" : "needs balloon lift", diff --git a/Tools/autotest/default_params/plane-ice.parm b/Tools/autotest/default_params/plane-ice.parm index e6cb59cad0..48c2fb0b96 100644 --- a/Tools/autotest/default_params/plane-ice.parm +++ b/Tools/autotest/default_params/plane-ice.parm @@ -1,5 +1,6 @@ ICE_ENABLE 1 ICE_RPM_CHAN 1 +ICE_RPM_THRESH 50 SERVO13_FUNCTION 67 SERVO14_FUNCTION 69 RC11_OPTION 179