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autotest: add autotest for channel-6 tuning of wp speed

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Peter Barker 2024-03-25 18:57:53 +11:00 committed by Peter Barker
parent 964c30e053
commit 77c7052865
1 changed files with 35 additions and 0 deletions
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35
Tools/autotest/arducopter.py
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@ -10670,6 +10670,40 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.reboot_sitl() # unlock home position
def Ch6TuningWPSpeed(self):
'''test waypoint speed can be changed via Ch6 tuning knob'''
self.set_parameters({
"TUNE": 10, # 10 is waypoint speed
"TUNE_MIN": 0.02, # 20cm/s
"TUNE_MAX": 1000, # 10m/s
"AUTO_OPTIONS": 3,
})
self.set_rc(6, 2000)
self.upload_simple_relhome_mission([
(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 20),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, 20),
(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
])
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_groundspeed(9.5, 10.5, minimum_duration=5)
self.set_rc(6, 1500)
self.wait_groundspeed(4.5, 5.5, minimum_duration=5)
self.set_rc(6, 2000)
self.wait_groundspeed(9.5, 10.5, minimum_duration=5)
self.set_rc(6, 1300)
self.wait_groundspeed(2.5, 3.5, minimum_duration=5)
self.do_RTL()
def tests2b(self): # this block currently around 9.5mins here
'''return list of all tests'''
ret = ([
@ -10743,6 +10777,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.MAV_CMD_SET_EKF_SOURCE_SET,
self.MAV_CMD_NAV_TAKEOFF,
self.MAV_CMD_NAV_TAKEOFF_command_int,
self.Ch6TuningWPSpeed,
])
return ret