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autotest: Fix watch_altitude_maintained for Copter

This commit is contained in:
m 2022-04-20 18:08:55 +03:00 committed by Peter Barker
parent 109d0286d9
commit 61bb575422
2 changed files with 11 additions and 13 deletions
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16
Tools/autotest/arducopter.py
View File

@ -264,27 +264,17 @@ class AutoTestCopter(AutoTest):
self.do_RTL() self.do_RTL()
def watch_altitude_maintained(self, min_alt, max_alt, timeout=10):
'''watch alt, relative alt must remain between min_alt and max_alt'''
tstart = self.get_sim_time_cached()
while True:
if self.get_sim_time_cached() - tstart > timeout:
return
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
if m.alt <= min_alt:
raise NotAchievedException("Altitude not maintained: want >%f got=%f" % (min_alt, m.alt))
def ModeAltHold(self): def ModeAltHold(self):
'''Test AltHold Mode''' '''Test AltHold Mode'''
self.takeoff(10, mode="ALT_HOLD") self.takeoff(10, mode="ALT_HOLD")
self.watch_altitude_maintained(9, 11, timeout=5) self.watch_altitude_maintained(altitude_min=9, altitude_max=11)
# feed in full elevator and aileron input and make sure we # feed in full elevator and aileron input and make sure we
# retain altitude: # retain altitude:
self.set_rc_from_map({ self.set_rc_from_map({
1: 1000, 1: 1000,
2: 1000, 2: 1000,
}) })
self.watch_altitude_maintained(9, 11, timeout=5) self.watch_altitude_maintained(altitude_min=9, altitude_max=11)
self.set_rc_from_map({ self.set_rc_from_map({
1: 1500, 1: 1500,
2: 1500, 2: 1500,
@ -4572,7 +4562,7 @@ class AutoTestCopter(AutoTest):
self.change_mode("STABILIZE") self.change_mode("STABILIZE")
self.change_mode("GUIDED") self.change_mode("GUIDED")
self.set_rc(3, 1700) self.set_rc(3, 1700)
self.watch_altitude_maintained(-1, 0.2) # should not take off in guided self.watch_altitude_maintained(altitude_min=-1, altitude_max=0.2) # should not take off in guided
self.run_cmd_do_set_mode( self.run_cmd_do_set_mode(
"ACRO", "ACRO",
want_result=mavutil.mavlink.MAV_RESULT_FAILED) want_result=mavutil.mavlink.MAV_RESULT_FAILED)

8
Tools/autotest/common.py
View File

@ -5837,6 +5837,14 @@ class AutoTest(ABC):
**kwargs **kwargs
) )
def watch_altitude_maintained(self, altitude_min, altitude_max, minimum_duration=5, relative=True):
"""Watch altitude is maintained or not between altitude_min and altitude_max during minimum_duration"""
return self.wait_altitude(altitude_min=altitude_min,
altitude_max=altitude_max,
relative=relative,
minimum_duration=minimum_duration,
timeout=minimum_duration + 1)
def wait_climbrate(self, speed_min, speed_max, timeout=30, **kwargs): def wait_climbrate(self, speed_min, speed_max, timeout=30, **kwargs):
"""Wait for a given vertical rate.""" """Wait for a given vertical rate."""
assert speed_min <= speed_max, "Minimum speed should be less than maximum speed." assert speed_min <= speed_max, "Minimum speed should be less than maximum speed."