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autotest: helicopter: have land_and_disarm also lower the rotor speed

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similarly for do_RTL
This commit is contained in:
Peter Barker 2024-04-20 09:40:30 +10:00 committed by Peter Barker
parent 623f0b8899
commit 484ce402eb
1 changed files with 9 additions and 9 deletions
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18
Tools/autotest/helicopter.py
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@ -91,7 +91,6 @@ class AutoTestHelicopter(AutoTestCopter):
raise NotAchievedException("Takeoff initiated before runup time complete %u" % runup_time)
self.progress("Runup time %u" % runup_time)
self.zero_throttle()
self.set_rc(8, 1000)
self.land_and_disarm()
self.mav.wait_heartbeat()
@ -206,7 +205,6 @@ class AutoTestHelicopter(AutoTestCopter):
)
self.takeoff(10)
self.do_RTL()
self.set_rc(8, 1000)
def governortest(self):
'''Test Heli Internal Throttle Curve and Governor'''
@ -219,7 +217,6 @@ class AutoTestHelicopter(AutoTestCopter):
self.set_parameter("H_RSC_MODE", 4)
self.takeoff(10)
self.do_RTL()
self.set_rc(8, 1000)
def hover(self):
self.progress("Setting hover collective")
@ -280,7 +277,6 @@ class AutoTestHelicopter(AutoTestCopter):
ex = e
self.land_and_disarm()
self.set_rc(8, 1000)
self.context_pop()
@ -318,7 +314,6 @@ class AutoTestHelicopter(AutoTestCopter):
ex = e
self.land_and_disarm()
self.set_rc(8, 1000)
self.context_pop()
@ -878,7 +873,6 @@ class AutoTestHelicopter(AutoTestCopter):
now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm()
self.set_rc(8, 1000)
# test pitch rate P and Rate D tuning
self.set_parameters({
@ -898,7 +892,6 @@ class AutoTestHelicopter(AutoTestCopter):
now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm()
self.set_rc(8, 1000)
# test Roll rate P and Rate D tuning
self.set_parameters({
@ -918,7 +911,6 @@ class AutoTestHelicopter(AutoTestCopter):
now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm()
self.set_rc(8, 1000)
# test Roll and pitch angle P tuning
self.set_parameters({
@ -938,7 +930,6 @@ class AutoTestHelicopter(AutoTestCopter):
now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm()
self.set_rc(8, 1000)
# test yaw FF, rate P and Rate D, and angle P tuning
self.set_parameters({
@ -958,6 +949,15 @@ class AutoTestHelicopter(AutoTestCopter):
now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm()
def land_and_disarm(self, **kwargs):
super(AutoTestHelicopter, self).land_and_disarm(**kwargs)
self.progress("Killing rotor speed")
self.set_rc(8, 1000)
def do_RTL(self, **kwargs):
super(AutoTestHelicopter, self).do_RTL(**kwargs)
self.progress("Killing rotor speed")
self.set_rc(8, 1000)
def tests(self):