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autotest: add autotest for tuning loiter x/y speed

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Peter Barker 2025-02-05 11:42:15 +11:00 committed by Randy Mackay
parent ef3bf1c9f8
commit 6392fac6d9
1 changed files with 31 additions and 0 deletions
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31
Tools/autotest/arducopter.py
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@ -11802,6 +11802,36 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.do_RTL()
def Ch6TuningLoitMaxXYSpeed(self):
'''test loiter can be changed via Ch6 tuning knob'''
self.set_parameters({
"RC6_OPTION": 219, # RC6 used for tuning
"TUNE": 60, # 60 is x/y loiter speed
"TUNE_MIN": 0.02, # 20cm/s
"TUNE_MAX": 1000, # 10m/s
"AUTO_OPTIONS": 3,
})
self.set_rc(6, 2000)
self.takeoff(mode='LOITER')
self.set_rc(2, 1000)
self.wait_groundspeed(9.5, 10.5, minimum_duration=5)
self.set_rc(6, 1500)
self.wait_groundspeed(4.5, 5.5, minimum_duration=5)
self.set_rc(6, 2000)
self.wait_groundspeed(9.5, 10.5, minimum_duration=5)
self.set_rc(6, 1300)
self.wait_groundspeed(2.5, 3.5, minimum_duration=5)
self.set_rc(2, 1500)
self.do_RTL()
def PILOT_THR_BHV(self):
'''test the PILOT_THR_BHV parameter'''
self.start_subtest("Test default behaviour, no disarm on land")
@ -12771,6 +12801,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.ScriptingFlipMode,
self.CompassLearnCopyFromEKF,
self.AHRSAutoTrim,
self.Ch6TuningLoitMaxXYSpeed,
])
return ret