From 41c437b768ff3cbf30fd30392754721f0823e437 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Fri, 30 Apr 2021 08:33:58 +0930 Subject: [PATCH] AutoTest: Copter: fly_poshold_takeoff increase acceptable range --- Tools/autotest/arducopter.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 424ba95c78..c243402863 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -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)