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autotest: fixed test suite for FENCE_AUTOENABLE=2

This commit is contained in:
Andrew Tridgell 2024-11-30 19:19:48 +11:00
parent 9084b48308
commit 4c40d66d7d
1 changed files with 10 additions and 7 deletions
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17
Tools/autotest/arduplane.py
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@ -3696,20 +3696,23 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.set_rc(3, 1500) self.set_rc(3, 1500)
self.change_altitude(cruise_alt, relative=True) self.change_altitude(cruise_alt, relative=True)
self.progress("Fly below floor and check for no breach") self.progress("Fly below floor and check for breach")
self.change_altitude(25, relative=True) self.set_rc(2, 2000)
self.wait_mode("RTL")
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
self.progress("Got (%s)" % str(m)) self.progress("Got (%s)" % str(m))
if (not (m.onboard_control_sensors_health & fence_bit)): if (m.onboard_control_sensors_health & fence_bit):
raise NotAchievedException("Fence Ceiling breached") raise NotAchievedException("Fence floor not breached")
self.progress("Fly above floor and check fence is not re-enabled") self.change_mode("FBWA")
self.progress("Fly above floor and check fence is enabled")
self.set_rc(3, 2000) self.set_rc(3, 2000)
self.change_altitude(75, relative=True) self.change_altitude(75, relative=True)
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
self.progress("Got (%s)" % str(m)) self.progress("Got (%s)" % str(m))
if (m.onboard_control_sensors_enabled & fence_bit): if (not (m.onboard_control_sensors_enabled & fence_bit)):
raise NotAchievedException("Fence Ceiling re-enabled") raise NotAchievedException("Fence Floor not enabled")
self.progress("Return to cruise alt") self.progress("Return to cruise alt")
self.set_rc(3, 1500) self.set_rc(3, 1500)