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AutoTest: Copter: fly_poshold_takeoff increase acceptable range

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Leonard Hall 2021-04-30 08:33:58 +09:30 committed by Andrew Tridgell
parent c91fdcea72
commit 41c437b768
1 changed files with 6 additions and 3 deletions
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9
Tools/autotest/arducopter.py
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@ -5065,7 +5065,7 @@ class AutoTestCopter(AutoTest):
# make sure we haven't already reached alt:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
max_initial_alt = 500
max_initial_alt = 2000
if abs(m.relative_alt) > max_initial_alt:
raise NotAchievedException("Took off too fast (%f > %f" %
(abs(m.relative_alt), max_initial_alt))
@ -7265,6 +7265,7 @@ class AutoTestHeli(AutoTestCopter):
if abs(m.relative_alt) > max_relalt_mm:
raise NotAchievedException("Took off prematurely (abs(%f)>%f)" %
(m.relative_alt, max_relalt_mm))
self.progress("Pushing collective past half-way")
self.set_rc(3, 1600)
self.delay_sim_time(0.5)
@ -7273,8 +7274,10 @@ class AutoTestHeli(AutoTestCopter):
# make sure we haven't already reached alt:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
if abs(m.relative_alt) > 500:
raise NotAchievedException("Took off too fast")
max_initial_alt = 1500
if abs(m.relative_alt) > max_initial_alt:
raise NotAchievedException("Took off too fast (%f > %f" %
(abs(m.relative_alt), max_initial_alt))
self.progress("Monitoring takeoff-to-alt")
self.wait_altitude(6.9, 8, relative=True)