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autotest: Add plane test for landing with barometer drift.

This commit is contained in:
Samuel Tabor 2020-12-01 07:14:34 +00:00 committed by Peter Barker
parent 7498d5c296
commit 3a185e7533
2 changed files with 35 additions and 0 deletions
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11
Tools/autotest/ArduPlane_Tests/Landing-Drift/ap-circuit.txt Normal file
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@ -0,0 +1,11 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363257 149.165237 584.099976 1
1 0 3 22 15.000000 0.000000 0.000000 0.000000 0.000000 0.000000 80.000000 1
2 0 3 19 600.000000 0.000000 1.000000 0.000000 -35.356752 149.164022 100.000000 1
3 0 3 189 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 100.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.360205 149.164455 100.430000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.360629 149.160695 94.470001 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.368664 149.161993 83.139999 1
7 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.368122 149.166056 60.000000 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.366814 149.165878 50.000000 1
9 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.362911 149.165222 0.000000 1

24
Tools/autotest/arduplane.py
View File

@ -3048,6 +3048,26 @@ class AutoTestPlane(AutoTest):
if ex is not None:
raise ex
def fly_landing_baro_drift(self):
self.customise_SITL_commandline([], wipe=True)
self.set_parameters({
"SIM_BARO_DRIFT": -0.02,
"SIM_TERRAIN": 0,
"RNGFND_LANDING": 1,
"RNGFND1_MAX_CM": 4000,
"LAND_SLOPE_RCALC": 2,
"LAND_ABORT_DEG": 2,
})
self.reboot_sitl()
self.wait_ready_to_arm()
self.arm_vehicle()
self.fly_mission("ap-circuit.txt", mission_timeout=1200)
def tests(self):
'''return list of all tests'''
ret = super(AutoTestPlane, self).tests()
@ -3257,6 +3277,10 @@ class AutoTestPlane(AutoTest):
"AHRS trim testing",
self.ahrstrim),
("Landing-Drift",
"Circuit with baro drift",
self.fly_landing_baro_drift),
("LogUpload",
"Log upload",
self.log_upload),