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autotest: add test for Plane LOITER

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Peter Barker 2020-02-07 09:12:45 +11:00 committed by Peter Barker
parent c46a1112e1
commit 71a129d685
1 changed files with 60 additions and 0 deletions
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60
Tools/autotest/arduplane.py
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@ -1572,6 +1572,62 @@ class AutoTestPlane(AutoTest):
self.fly_home_land_and_disarm()
def LOITER(self):
self.takeoff(alt=200)
self.set_rc(3, 1500)
self.change_mode("LOITER")
self.progress("Doing a bit of loitering to start with")
tstart = self.get_sim_time()
while True:
now = self.get_sim_time_cached()
if now - tstart > 60:
break
m = self.mav.recv_match(type='VFR_HUD', blocking=True, timeout=5)
if m is None:
raise NotAchievedException("Did not get VFR_HUD")
new_throttle = m.throttle
alt = m.alt
m = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=5)
if m is None:
raise NotAchievedException("Did not get ATTITUDE")
pitch = math.degrees(m.pitch)
self.progress("Pitch:%f throttle:%u alt:%f" % (pitch, new_throttle, alt))
m = self.mav.recv_match(type='VFR_HUD', blocking=True, timeout=5)
if m is None:
raise NotAchievedException("Did not get VFR_HUD")
initial_throttle = m.throttle
initial_alt = m.alt
self.progress("Initial throttle: %u" % initial_throttle)
# pitch down, ensure throttle decreases:
rc2_max = self.get_parameter("RC2_MAX")
self.set_rc(2, rc2_max)
tstart = self.get_sim_time()
while True:
now = self.get_sim_time_cached()
'''stick-mixing is pushing the aircraft down. It doesn't want to go
down (the target loiter altitude hasn't changed), so it
tries to add energy by increasing the throttle.
'''
if now - tstart > 60:
raise NotAchievedException("Did not see increase in throttle")
m = self.mav.recv_match(type='VFR_HUD', blocking=True, timeout=5)
if m is None:
raise NotAchievedException("Did not get VFR_HUD")
new_throttle = m.throttle
alt = m.alt
m = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=5)
if m is None:
raise NotAchievedException("Did not get ATTITUDE")
pitch = math.degrees(m.pitch)
self.progress("Pitch:%f throttle:%u alt:%f" % (pitch, new_throttle, alt))
if new_throttle - initial_throttle > 20:
self.progress("Throttle delta achieved")
break
self.progress("Centering elevator and ensuring we get back to loiter altitude")
self.set_rc(2, 1500)
self.wait_altitude(initial_alt-1, initial_alt+1)
self.fly_home_land_and_disarm()
def tests(self):
'''return list of all tests'''
ret = super(AutoTestPlane, self).tests()
@ -1661,6 +1717,10 @@ class AutoTestPlane(AutoTest):
"Test Advanced Failsafe",
self.test_advanced_failsafe),
("LOITER",
"Test Loiter mode",
self.LOITER),
("DeepStall",
"Test DeepStall Landing",
self.fly_deepstall),