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autotest: verify roll/pitch are not adversely affected by yaw inputs

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Peter Barker 2021-05-06 11:35:40 +10:00 committed by Peter Barker
parent 4c20bc2d9d
commit 697fbb0db0
1 changed files with 23 additions and 0 deletions
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23
Tools/autotest/arducopter.py
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@ -6652,6 +6652,29 @@ class AutoTestCopter(AutoTest):
self.install_message_hook(verify_yaw) self.install_message_hook(verify_yaw)
self.takeoff(10) self.takeoff(10)
self.remove_message_hook(verify_yaw) self.remove_message_hook(verify_yaw)
self.hover()
self.change_mode('ALT_HOLD')
self.delay_sim_time(1)
def verify_rollpitch(mav, m):
if m.get_type() != 'ATTITUDE':
return
pitch_thresh_rad = math.radians(2)
if m.pitch > pitch_thresh_rad:
raise NotAchievedException("Excessive pitch %f deg > %f deg" %
(math.degrees(m.pitch), math.degrees(pitch_thresh_rad)))
roll_thresh_rad = math.radians(2)
if m.roll > roll_thresh_rad:
raise NotAchievedException("Excessive roll %f deg > %f deg" %
(math.degrees(m.roll), math.degrees(roll_thresh_rad)))
self.install_message_hook(verify_rollpitch)
for i in range(5):
self.set_rc(4, 2000)
self.delay_sim_time(0.5)
self.set_rc(4, 1500)
self.delay_sim_time(5)
self.remove_message_hook(verify_rollpitch)
self.do_RTL() self.do_RTL()
def create_simple_relhome_mission(self, items_in, target_system=1, target_component=1): def create_simple_relhome_mission(self, items_in, target_system=1, target_component=1):