Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-24 09:38:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

autotest: add test for uploading big fence then small fence

Browse Source
This commit is contained in:
Peter Barker 2021-11-30 12:55:55 +11:00 committed by Andrew Tridgell
parent af92c9679f
commit 6e4aa2264f
1 changed files with 38 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

38
Tools/autotest/rover.py
View File

@ -4270,6 +4270,42 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
target_system=target_system, target_system=target_system,
target_component=target_component) target_component=target_component)
def test_poly_fence_big_then_small(self, target_system=1, target_component=1):
here = self.mav.location()
self.roundtrip_fence_using_fencepoint_protocol([
self.offset_location_ne(here, 0, 0), # bl // return point
self.offset_location_ne(here, -50, 20), # bl
self.offset_location_ne(here, 50, 20), # br
self.offset_location_ne(here, 50, 40), # tr
self.offset_location_ne(here, -50, 40), # tl,
self.offset_location_ne(here, -50, 20), # closing point
], ordering=[1, 2, 3, 4, 5, 0])
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
if len(downloaded_items) != 5:
# that's one return point and then bl, br, tr, then tl
raise NotAchievedException("Bad number of downloaded items in original download")
self.roundtrip_fence_using_fencepoint_protocol([
self.offset_location_ne(here, 0, 0), # bl // return point
self.offset_location_ne(here, -50, 20), # bl
self.offset_location_ne(here, 50, 40), # tr
self.offset_location_ne(here, -50, 40), # tl,
self.offset_location_ne(here, -50, 20), # closing point
], ordering=[1, 2, 3, 4, 0])
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
want_count = 4
if len(downloaded_items) != want_count:
# that's one return point and then bl, tr, then tl
raise NotAchievedException("Bad number of downloaded items in second download got=%u wanted=%u" %
(len(downloaded_items), want_count))
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
if len(downloaded_items) != 4:
# that's one return point and then bl, tr, then tl
raise NotAchievedException("Bad number of downloaded items in second download (second time) got=%u want=%u" %
(len(downloaded_items), want_count))
def test_poly_fence_compatability(self, target_system=1, target_component=1): def test_poly_fence_compatability(self, target_system=1, target_component=1):
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE, self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE,
target_system=target_system, target_system=target_system,
@ -4347,6 +4383,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
# self.set_parameter("SIM_SPEEDUP", 1) # self.set_parameter("SIM_SPEEDUP", 1)
self.test_poly_fence_big_then_small()
self.test_poly_fence_compatability() self.test_poly_fence_compatability()
self.test_fence_upload_timeouts() self.test_fence_upload_timeouts()