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autotest: add GUIDEDToAUTO quadplane test

This commit is contained in:
Peter Barker 2021-12-13 13:27:37 +11:00 committed by Peter Barker
parent 46e5e42d25
commit 5f21b2f7c9
2 changed files with 50 additions and 0 deletions
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36
Tools/autotest/ArduPlane_Tests/GUIDEDToAUTO/mission.txt Normal file
View File

@ -0,0 +1,36 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -27.272924 151.290848 10.000000 1
1 0 10 84 0.000000 0.000000 0.000000 0.000000 -27.272924 151.290848 10.000000 1
2 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.272705 151.298172 100.000000 1
3 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.277561 151.337250 100.000000 1
4 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.281748 151.335953 100.000000 1
5 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.275724 151.289932 100.000000 1
6 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.297457 151.285629 100.000000 1
7 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.308109 151.354279 100.000000 1
8 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.330292 151.374268 90.000000 1
9 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.330435 151.375977 70.000000 1
10 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.332638 151.376099 70.000000 1
11 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.334694 151.376144 70.000000 1
12 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.333776 151.374146 70.000000 1
13 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.331438 151.378159 70.000000 1
14 0 0 177 9.000000 4.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
15 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.334566 151.375366 40.000000 1
16 0 0 178 0.000000 20.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
17 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.334840 151.377234 40.000000 1
18 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.333933 151.376849 35.000000 1
19 0 10 85 0.000000 0.000000 0.000000 0.000000 -27.332676 151.376511 0.000000 1
20 0 10 84 0.000000 0.000000 0.000000 0.000000 -27.332659 151.376511 35.000000 1
21 0 0 178 0.000000 24.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
22 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.332201 151.376511 100.000000 1
23 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.330381 151.374191 100.000000 1
24 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.308224 151.354538 100.000000 1
25 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.297340 151.285385 100.000000 1
26 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.275724 151.289932 100.000000 1
27 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.281631 151.335953 100.000000 1
28 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.277679 151.337128 100.000000 1
29 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.272587 151.298294 100.000000 1
30 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.271564 151.291473 30.000000 1
31 0 0 178 0.000000 20.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
32 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.271054 151.290211 25.000000 1
33 0 10 16 0.000000 0.000000 0.000000 0.000000 -27.273310 151.290222 15.000000 1
34 0 10 85 0.000000 0.000000 0.000000 0.000000 -27.274887 151.289918 0.000000 1

14
Tools/autotest/quadplane.py
View File

@ -897,6 +897,19 @@ class AutoTestQuadPlane(AutoTest):
self.reset_SITL_commandline()
self.context_pop()
def GUIDEDToAUTO(self):
'''Test using GUIDED mode for takeoff before shifting to auto'''
self.load_mission("mission.txt")
self.takeoff(30, mode='GUIDED')
# extra checks would go here
self.assert_not_receiving_message('CAMERA_FEEDBACK')
self.change_mode('AUTO')
self.wait_current_waypoint(3)
self.change_mode('QRTL')
self.wait_disarmed(timeout=240)
def Tailsitter(self):
'''tailsitter test'''
self.set_parameter('Q_FRAME_CLASS', 10)
@ -1230,6 +1243,7 @@ class AutoTestQuadPlane(AutoTest):
self.ICEngine,
self.ICEngineMission,
self.MidAirDisarmDisallowed,
self.GUIDEDToAUTO,
self.BootInAUTO,
self.Ship,
self.MAV_CMD_NAV_LOITER_TO_ALT,