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autotest: add test for Copter behaviour in guided with force-arm

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Peter Barker 2024-05-21 17:57:15 +10:00 committed by Randy Mackay
parent 482342340d
commit 766d92faa6
1 changed files with 37 additions and 4 deletions
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41
Tools/autotest/arducopter.py
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@ -4599,10 +4599,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
m.climb < climb_tolerance):
break
def fly_guided_move_global_relative_alt(self, lat, lon, alt):
startpos = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
def send_set_position_target_global_int(self, lat, lon, alt):
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
1, # target system_id
@ -4622,6 +4619,12 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
0, # yawrate
)
def fly_guided_move_global_relative_alt(self, lat, lon, alt):
startpos = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
self.send_set_position_target_global_int(lat, lon, alt)
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 200:
@ -11345,6 +11348,35 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.context_pop()
self.reboot_sitl(force=True)
def GuidedForceArm(self):
'''ensure Guided acts appropriately when force-armed'''
self.set_parameters({
"EK3_SRC2_VELXY": 5,
"SIM_GPS_DISABLE": 1,
})
self.load_default_params_file("copter-optflow.parm")
self.reboot_sitl()
self.delay_sim_time(30)
self.change_mode('GUIDED')
self.arm_vehicle(force=True)
self.takeoff(20, mode='GUIDED')
location = self.offset_location_ne(self.sim_location(), metres_north=0, metres_east=-300)
self.progress("Ensure we don't move for 10 seconds")
tstart = self.get_sim_time()
startpos = self.sim_location_int()
while True:
now = self.get_sim_time_cached()
if now - tstart > 10:
break
self.send_set_position_target_global_int(int(location.lat*1e7), int(location.lng*1e7), 10)
dist = self.get_distance_int(startpos, self.sim_location_int())
if dist > 10:
raise NotAchievedException("Wandered too far from start position")
self.delay_sim_time(1)
self.disarm_vehicle(force=True)
self.reboot_sitl()
def tests2b(self): # this block currently around 9.5mins here
'''return list of all tests'''
ret = ([
@ -11431,6 +11463,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.AutoRTL,
self.EK3_OGN_HGT_MASK,
self.FarOrigin,
self.GuidedForceArm,
])
return ret