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Tools: autotest check-avoidance-corners disables proximity before RTL

This commit is contained in:
Randy Mackay 2024-08-28 10:11:31 +09:00
parent 1552b72596
commit 4944eb9e7f
1 changed files with 3 additions and 1 deletions
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4
Tools/autotest/arducopter.py
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@ -7403,7 +7403,6 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.reach_heading_manual(225) self.reach_heading_manual(225)
self.wait_location(west_loc, accuracy=6, timeout=200) self.wait_location(west_loc, accuracy=6, timeout=200)
self.set_rc(2, 1500) self.set_rc(2, 1500)
self.do_RTL()
def OBSTACLE_DISTANCE_3D_test_angle(self, angle): def OBSTACLE_DISTANCE_3D_test_angle(self, angle):
now = self.get_sim_time_cached() now = self.get_sim_time_cached()
@ -7493,6 +7492,8 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.progress("Enabling proximity") self.progress("Enabling proximity")
self.set_rc(10, 2000) self.set_rc(10, 2000)
self.check_avoidance_corners() self.check_avoidance_corners()
self.set_rc(10, 1000)
self.do_RTL()
self.assert_current_onboard_log_contains_message("PRX") self.assert_current_onboard_log_contains_message("PRX")
self.assert_current_onboard_log_contains_message("PRXR") self.assert_current_onboard_log_contains_message("PRXR")
@ -7660,6 +7661,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.load_fence("copter-avoidance-fence.txt") self.load_fence("copter-avoidance-fence.txt")
self.set_parameter("FENCE_ENABLE", 1) self.set_parameter("FENCE_ENABLE", 1)
self.check_avoidance_corners() self.check_avoidance_corners()
self.do_RTL()
def AvoidanceAltFence(self): def AvoidanceAltFence(self):
'''Test fence avoidance at minimum and maximum altitude''' '''Test fence avoidance at minimum and maximum altitude'''