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autotest: add test for AUTO_LAND_TO_BRAKE 

Having some terrain-based issues with BRAKE mode
This commit is contained in:
Peter Barker 2022-07-06 12:41:32 +10:00 committed by Peter Barker
parent 7647e38f3f
commit 72734d38de
2 changed files with 82 additions and 0 deletions
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19
Tools/autotest/ArduCopter_Tests/AUTO_LAND_TO_BRAKE/mission.txt Normal file
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@ -0,0 +1,19 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -20.558323 -47.415722 931.809998 1
1 0 3 22 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 35.000000 1
2 0 3 16 1.000000 0.000000 0.000000 0.000000 -20.558323 -47.415722 35.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -20.558152 -47.415520 35.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -20.558317 -47.415059 35.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -20.558746 -47.414832 35.000000 1
6 0 3 16 1.000000 0.000000 0.000000 0.000000 -20.558941 -47.415046 35.000000 1
7 0 3 21 0.000000 0.000000 0.000000 1.000000 -20.558941 -47.415046 0.000000 1
8 0 0 211 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
9 0 0 93 5.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
10 0 3 22 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 35.000000 1
11 0 0 178 0.000000 8.888889 0.000000 0.000000 0.000000 0.000000 0.000000 1
12 0 3 16 1.000000 0.000000 0.000000 0.000000 -20.558941 -47.415046 35.000000 1
13 0 3 16 0.000000 0.000000 0.000000 0.000000 -20.558746 -47.414832 35.000000 1
14 0 3 16 0.000000 0.000000 0.000000 0.000000 -20.558317 -47.415059 35.000000 1
15 0 3 16 0.000000 0.000000 0.000000 0.000000 -20.558152 -47.415520 35.000000 1
16 0 3 16 1.000000 0.000000 0.000000 0.000000 -20.558323 -47.415722 35.000000 1
17 0 3 21 0.000000 0.000000 0.000000 1.000000 -20.558323 -47.415722 0.000000 1

63
Tools/autotest/arducopter.py
View File

@ -8431,6 +8431,65 @@ class AutoTestCopter(AutoTest):
self.wait_disarmed() self.wait_disarmed()
def AUTO_LAND_TO_BRAKE(self):
'''ensure terrain altitude is taken into account when braking'''
self.load_mission('mission.txt')
home_loc = self.get_home_tuple_from_mission("mission.txt")
self.set_parameters({
"PLND_ACC_P_NSE": 2.500000,
"PLND_ALT_MAX": 8.000000,
"PLND_ALT_MIN": 0.750000,
"PLND_BUS": -1,
"PLND_CAM_POS_X": 0.000000,
"PLND_CAM_POS_Y": 0.000000,
"PLND_CAM_POS_Z": 0.000000,
"PLND_ENABLED": 1,
"PLND_EST_TYPE": 1,
"PLND_LAG": 0.020000,
"PLND_LAND_OFS_X": 0.000000,
"PLND_LAND_OFS_Y": 0.000000,
"PLND_OPTIONS": 0,
"PLND_RET_BEHAVE": 0,
"PLND_RET_MAX": 4,
"PLND_STRICT": 1,
"PLND_TIMEOUT": 4.000000,
"PLND_TYPE": 4,
"PLND_XY_DIST_MAX": 2.500000,
"PLND_YAW_ALIGN": 0.000000,
"SIM_PLD_ALT_LMT": 15.000000,
"SIM_PLD_DIST_LMT": 10.000000,
"SIM_PLD_ENABLE": 1,
"SIM_PLD_HEIGHT": 942.0000000,
"SIM_PLD_LAT": -20.558929,
"SIM_PLD_LON": -47.415035,
"SIM_PLD_RATE": 100,
"SIM_PLD_TYPE": 1,
"SIM_PLD_YAW": 87,
"SIM_SONAR_SCALE": 12,
})
self.set_analog_rangefinder_parameters()
self.customise_SITL_commandline([
"--home", "%s,%s,%s,%s" % home_loc
])
self.set_parameter('AUTO_OPTIONS', 3)
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_current_waypoint(7)
self.wait_altitude(10, 15, relative=True, timeout=60)
self.change_mode('BRAKE')
# monitor altitude here
self.wait_altitude(10, 15, relative=True, minimum_duration=20)
self.change_mode('AUTO')
self.wait_disarmed()
# a wrapper around all the 1A,1B,1C..etc tests for travis # a wrapper around all the 1A,1B,1C..etc tests for travis
def tests1(self): def tests1(self):
ret = ([]) ret = ([])
@ -9156,6 +9215,10 @@ class AutoTestCopter(AutoTest):
"Change speed during misison using waypoint items", "Change speed during misison using waypoint items",
self.DO_CHANGE_SPEED), self.DO_CHANGE_SPEED),
Test("AUTO_LAND_TO_BRAKE",
"Change to LAND while descending in AUTO land phase",
self.AUTO_LAND_TO_BRAKE),
Test("WPNAV_SPEED", Test("WPNAV_SPEED",
"Change speed during misison", "Change speed during misison",
self.WPNAV_SPEED), self.WPNAV_SPEED),