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autotest: added quadplane ShipLanding test

This commit is contained in:
Andrew Tridgell 2024-03-05 08:53:17 +11:00
parent c210675e95
commit 6a67830556
3 changed files with 64 additions and 4 deletions
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3
Tools/autotest/ArduPlane_Tests/ShipLanding/takeoff100.txt Normal file
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@ -0,0 +1,3 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 37.625620 -122.332354 0.100000 1
1 0 3 84 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 100.000000 1

61
Tools/autotest/quadplane.py
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@ -1341,11 +1341,11 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
self.install_applet_script(applet_script)
target = mavutil.location(-27.27440414, 151.28984285, 342.8, 0)
here = self.mav.location()
target = self.offset_location_ne(here, 20, 0)
self.set_parameters({
"SCR_ENABLE": 1,
"SIM_SPEEDUP": 4,
"PLND_ENABLED": 1,
"PLND_TYPE": 4,
"SIM_PLD_ENABLE": 1,
@ -1367,6 +1367,7 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
self.context_collect('STATUSTEXT')
self.set_parameters({
"PLND_ALT_CUTOFF" : 5,
"SIM_SPEEDUP" : 10,
})
self.scripting_restart()
@ -1393,6 +1394,61 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
self.remove_installed_script(applet_script)
self.reboot_sitl()
def ShipLanding(self):
'''ship landing test'''
applet_script = "plane_ship_landing.lua"
self.install_applet_script(applet_script)
self.set_parameters({
"SCR_ENABLE": 1,
"SIM_SHIP_ENABLE": 1,
"SIM_SHIP_SPEED": 5,
"SIM_SHIP_DSIZE": 10,
"FOLL_ENABLE": 1,
"FOLL_SYSID": 17,
"FOLL_OFS_TYPE": 1,
"SIM_TERRAIN" : 0,
"TERRAIN_ENABLE" : 0,
})
self.load_mission("takeoff100.txt")
self.reboot_sitl(check_position=False)
self.context_push()
self.context_collect('STATUSTEXT')
self.set_parameters({
"SHIP_ENABLE" : 1,
"SIM_SPEEDUP" : 10,
})
self.scripting_restart()
self.wait_text("ShipLanding: loaded", check_context=True)
self.wait_ready_to_arm()
self.change_mode("AUTO")
self.arm_vehicle()
self.wait_altitude(95, 105, relative=True, timeout=90)
self.drain_mav()
self.wait_text("Mission complete, changing mode to RTL", check_context=True, timeout=60)
self.wait_text("Descending for approach", check_context=True, timeout=60)
self.wait_text("Reached target altitude", check_context=True, timeout=120)
self.wait_text("Starting approach", check_context=True, timeout=120)
self.wait_text("Land complete", check_context=True, timeout=120)
self.wait_disarmed(timeout=180)
# we confirm successful landing on the ship from our ground speed. The
# deck is just 10m in size, so we must be within 10m if we are moving
# with the deck
self.wait_groundspeed(4.8, 5.2)
self.context_pop()
self.remove_installed_script(applet_script)
self.reboot_sitl(check_position=False)
def RCDisableAirspeedUse(self):
'''check disabling airspeed using RC switch'''
self.set_parameter("RC9_OPTION", 106)
@ -1637,6 +1693,7 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
self.VTOLLandSpiral,
self.VTOLQuicktune,
self.PrecisionLanding,
self.ShipLanding,
Test(self.MotorTest, kwargs={ # tests motors 4 and 2
"mot1_servo_chan": 8, # quad-x second motor cw from f-r
"mot4_servo_chan": 6, # quad-x third motor cw from f-r

4
Tools/autotest/vehicle_test_suite.py
View File

@ -2002,14 +2002,14 @@ class TestSuite(ABC):
0,
0)
def reboot_sitl(self, required_bootcount=None, force=False):
def reboot_sitl(self, required_bootcount=None, force=False, check_position=True):
"""Reboot SITL instance and wait for it to reconnect."""
if self.armed() and not force:
raise NotAchievedException("Reboot attempted while armed")
self.progress("Rebooting SITL")
self.reboot_sitl_mav(required_bootcount=required_bootcount, force=force)
self.do_heartbeats(force=True)
if self.frame != 'sailboat': # sailboats drift with wind!
if check_position and self.frame != 'sailboat': # sailboats drift with wind!
self.assert_simstate_location_is_at_startup_location()
def reboot_sitl_mavproxy(self, required_bootcount=None):