autotest: add test for moving from loiter to guided

This commit is contained in:
Peter Barker 2024-03-07 14:34:56 +11:00 committed by Randy Mackay
parent 3be1b9efa6
commit 77cccd08a3
1 changed files with 16 additions and 0 deletions

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@ -10828,6 +10828,21 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
if abs(got - want) > 1:
raise NotAchievedException(f"Incorrect relalt {want=} {got=}")
def LoiterToGuidedHomeVSOrigin(self):
'''test moving from guided to loiter mode when home is a different alt
to origin'''
self.set_parameters({
"TERRAIN_ENABLE": 1,
"SIM_TERRAIN": 1,
})
self.takeoff(10, mode='GUIDED')
here = self.mav.location()
self.set_home(here)
self.change_mode('LOITER')
self.wait_altitude(here.alt-1, here.alt+1, minimum_duration=10)
self.disarm_vehicle(force=True)
self.reboot_sitl() # to "unstick" home
def tests2b(self): # this block currently around 9.5mins here
'''return list of all tests'''
ret = ([
@ -10906,6 +10921,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.PILOT_THR_BHV,
self.GPSForYawCompassLearn,
self.CameraLogMessages,
self.LoiterToGuidedHomeVSOrigin,
])
return ret