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autotest: add test for Rover RTL speed

This commit is contained in:
Peter Barker 2024-05-07 13:20:50 +10:00 committed by Peter Barker
parent d93f9a09db
commit 7b95633bab
1 changed files with 22 additions and 0 deletions
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22
Tools/autotest/rover.py
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@ -525,6 +525,27 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.disarm_vehicle() self.disarm_vehicle()
self.progress("RTL Mission OK (%fm)" % home_distance) self.progress("RTL Mission OK (%fm)" % home_distance)
def RTL_SPEED(self, timeout=120):
'''Test RTL_SPEED is honoured'''
self.upload_simple_relhome_mission([
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 300, 0, 0),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 1000, 0, 0),
])
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('AUTO')
self.wait_current_waypoint(2, timeout=120)
for speed in 1, 5.5, 1.5, 7.5:
self.set_parameter("RTL_SPEED", speed)
self.change_mode('RTL')
self.wait_groundspeed(speed-0.1, speed+0.1, minimum_duration=10)
self.change_mode('HOLD')
self.do_RTL()
self.disarm_vehicle()
def AC_Avoidance(self): def AC_Avoidance(self):
'''Test AC Avoidance switch''' '''Test AC Avoidance switch'''
self.context_push() self.context_push()
@ -6814,6 +6835,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.MAV_CMD_BATTERY_RESET, self.MAV_CMD_BATTERY_RESET,
self.NetworkingWebServer, self.NetworkingWebServer,
self.NetworkingWebServerPPP, self.NetworkingWebServerPPP,
self.RTL_SPEED,
]) ])
return ret return ret