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autotest: augment Plane following test to ensure we terrain follow

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Peter Barker 2022-07-17 22:09:33 +10:00 committed by Peter Barker
parent 0326d5eeca
commit 3bf76dbb64
1 changed files with 12 additions and 1 deletions
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13
Tools/autotest/arduplane.py
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@ -2753,15 +2753,26 @@ class AutoTestPlane(AutoTest):
self.progress("loitering at %um" % alt) self.progress("loitering at %um" % alt)
tstart = self.get_sim_time() tstart = self.get_sim_time()
timeout = 60*15 # enough time to do one and a bit circles timeout = 60*15 # enough time to do one and a bit circles
max_delta = 0
while True: while True:
now = self.get_sim_time_cached() now = self.get_sim_time_cached()
if now - tstart > timeout: if now - tstart > timeout:
break break
gpi = self.assert_receive_message('GLOBAL_POSITION_INT')
terrain = self.assert_receive_message('TERRAIN_REPORT') terrain = self.assert_receive_message('TERRAIN_REPORT')
rel_alt = terrain.current_height rel_alt = terrain.current_height
self.progress("%um above terrain" % rel_alt) self.progress("%um above terrain (%um bove home)" %
(rel_alt, gpi.relative_alt/1000.0))
if rel_alt > alt*1.2 or rel_alt < alt * 0.8: if rel_alt > alt*1.2 or rel_alt < alt * 0.8:
raise NotAchievedException("Not terrain following") raise NotAchievedException("Not terrain following")
delta = abs(rel_alt - gpi.relative_alt/1000.0)
if delta > max_delta:
max_delta = delta
want_max_delta = 30
if max_delta < want_max_delta:
raise NotAchievedException(
"Expected terrain and home alts to vary more than they did (max=%u want=%u)" %
(max_delta, want_max_delta))
self.context_pop() self.context_pop()
self.progress("Returning home") self.progress("Returning home")
self.fly_home_land_and_disarm(240) self.fly_home_land_and_disarm(240)