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autotest: tweak plan GCS failsafe test

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taking off when we're already aloft

also correct the test to make things actually tested; things were setup in such a way they'd pass without testing the things they were supposed to be
This commit is contained in:
Peter Barker 2023-07-28 12:20:58 +10:00 committed by Peter Barker
parent 34494bb7d1
commit 3f7d245c2c
1 changed files with 10 additions and 9 deletions
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19
Tools/autotest/arduplane.py
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@ -21,6 +21,8 @@ from common import NotAchievedException
from common import PreconditionFailedException from common import PreconditionFailedException
from common import WaitModeTimeout from common import WaitModeTimeout
from common import OldpymavlinkException from common import OldpymavlinkException
from common import Test
from pymavlink.rotmat import Vector3 from pymavlink.rotmat import Vector3
from pysim import vehicleinfo from pysim import vehicleinfo
@ -1302,29 +1304,28 @@ class AutoTestPlane(AutoTest):
'''Ensure Long-Failsafe works on GCS loss''' '''Ensure Long-Failsafe works on GCS loss'''
self.start_subtest("Test Failsafe: RTL") self.start_subtest("Test Failsafe: RTL")
self.load_sample_mission() self.load_sample_mission()
self.set_parameter("RTL_AUTOLAND", 1)
self.change_mode("AUTO")
self.takeoff()
self.set_parameters({ self.set_parameters({
"FS_GCS_ENABL": 1, "FS_GCS_ENABL": 1,
"FS_LONG_ACTN": 1, "FS_LONG_ACTN": 1,
"RTL_AUTOLAND": 1,
"SYSID_MYGCS": self.mav.source_system,
}) })
self.takeoff()
self.change_mode('LOITER')
self.progress("Disconnecting GCS") self.progress("Disconnecting GCS")
self.set_heartbeat_rate(0) self.set_heartbeat_rate(0)
self.wait_mode("RTL", timeout=5) self.wait_mode("RTL", timeout=10)
self.set_heartbeat_rate(self.speedup) self.set_heartbeat_rate(self.speedup)
self.end_subtest("Completed RTL Failsafe test") self.end_subtest("Completed RTL Failsafe test")
self.start_subtest("Test Failsafe: FBWA Glide") self.start_subtest("Test Failsafe: FBWA Glide")
self.set_parameters({ self.set_parameters({
"RTL_AUTOLAND": 1,
"FS_LONG_ACTN": 2, "FS_LONG_ACTN": 2,
}) })
self.change_mode("AUTO") self.change_mode('AUTO')
self.takeoff()
self.progress("Disconnecting GCS") self.progress("Disconnecting GCS")
self.set_heartbeat_rate(0) self.set_heartbeat_rate(0)
self.wait_mode("FBWA", timeout=5) self.wait_mode("FBWA", timeout=10)
self.set_heartbeat_rate(self.speedup) self.set_heartbeat_rate(self.speedup)
self.end_subtest("Completed FBWA Failsafe test") self.end_subtest("Completed FBWA Failsafe test")
@ -4705,7 +4706,7 @@ class AutoTestPlane(AutoTest):
self.AltResetBadGPS, self.AltResetBadGPS,
self.AirspeedCal, self.AirspeedCal,
self.MissionJumpTags, self.MissionJumpTags,
self.GCSFailsafe, Test(self.GCSFailsafe, speedup=8),
self.SDCardWPTest, self.SDCardWPTest,
self.NoArmWithoutMissionItems, self.NoArmWithoutMissionItems,
self.MODE_SWITCH_RESET, self.MODE_SWITCH_RESET,