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autotest: add test for MAV_CMD_NAV_TAKEOFF for quadplane using command_long

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Peter Barker 2023-10-17 15:39:29 +11:00 committed by Peter Barker
parent e71227fe3a
commit 7e1492d2b7
1 changed files with 43 additions and 0 deletions
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43
Tools/autotest/quadplane.py
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@ -1442,6 +1442,48 @@ class AutoTestQuadPlane(AutoTest):
self.fly_home_land_and_disarm()
def MAV_CMD_NAV_TAKEOFF(self):
'''test issuing takeoff command via mavlink'''
self.change_mode('GUIDED')
self.wait_ready_to_arm()
self.arm_vehicle()
self.run_cmd(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, p7=5)
self.wait_altitude(4.5, 5.5, minimum_duration=5, relative=True)
self.change_mode('QLAND')
self.wait_disarmed()
self.start_subtest("Check NAV_TAKEOFF is above current location, not home location")
self.change_mode('GUIDED')
self.wait_ready_to_arm()
# reset home 20 metres above current location
current_alt_abs = self.get_altitude(relative=False)
loc = self.mav.location()
home_z_ofs = 20
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_SET_HOME,
p5=loc.lat,
p6=loc.lng,
p7=current_alt_abs + home_z_ofs,
)
self.arm_vehicle()
takeoff_alt = 5
self.run_cmd(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, p7=takeoff_alt)
self.wait_altitude(
current_alt_abs + takeoff_alt - 0.5,
current_alt_abs + takeoff_alt + 0.5,
minimum_duration=5,
relative=False,
)
self.change_mode('QLAND')
self.wait_disarmed()
self.reboot_sitl() # unlock home position
def tests(self):
'''return list of all tests'''
@ -1480,5 +1522,6 @@ class AutoTestQuadPlane(AutoTest):
self.RCDisableAirspeedUse,
self.mission_MAV_CMD_DO_VTOL_TRANSITION,
self.mavlink_MAV_CMD_DO_VTOL_TRANSITION,
self.MAV_CMD_NAV_TAKEOFF,
])
return ret