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autotest: add polygon pre-arm tests

This commit is contained in:
Peter Barker 2024-05-20 07:20:50 +10:00 committed by Peter Barker
parent 24e54dac88
commit 7e8a69d2b7
1 changed files with 91 additions and 0 deletions
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91
Tools/autotest/rover.py
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@ -6811,6 +6811,96 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
want_type=mavutil.mavlink.MAV_MISSION_OPERATION_CANCELLED,
)
def MissionPolyEnabledPreArm(self):
'''check Polygon porearm checks'''
self.set_parameters({
'FENCE_ENABLE': 1,
})
self.progress("Ensure that we can arm if polyfence is enabled but we have no polyfence")
self.assert_parameter_value('FENCE_TYPE', 6)
self.wait_ready_to_arm()
self.reboot_sitl()
self.wait_ready_to_arm()
self.progress("Ensure we can arm when we have an inclusion fence we are inside of")
here = self.mav.location()
self.upload_fences_from_locations(
mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION,
[
[ # over the top of the vehicle
self.offset_location_ne(here, -50, -50), # bl
self.offset_location_ne(here, -50, 50), # br
self.offset_location_ne(here, 50, 50), # tr
self.offset_location_ne(here, 50, -50), # tl,
]
]
)
self.delay_sim_time(5)
self.wait_ready_to_arm()
self.reboot_sitl()
self.wait_ready_to_arm()
self.progress("Ensure we can't arm when we are in breacnh of a polyfence")
self.clear_fence()
self.progress("Now create a fence we are in breach of")
here = self.mav.location()
self.upload_fences_from_locations(
mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION,
[
[ # over the top of the vehicle
self.offset_location_ne(here, 20, 20), # bl
self.offset_location_ne(here, 20, 50), # br
self.offset_location_ne(here, 50, 50), # tr
self.offset_location_ne(here, 50, 20), # tl,
]
]
)
self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False)
self.reboot_sitl()
self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
self.progress("Ensure we can arm when a polyfence fence is cleared when we've previously been in breach")
self.clear_fence()
self.wait_ready_to_arm()
self.upload_fences_from_locations(
mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION,
[
[ # over the top of the vehicle
self.offset_location_ne(here, 20, 20), # bl
self.offset_location_ne(here, 20, 50), # br
self.offset_location_ne(here, 50, 50), # tr
self.offset_location_ne(here, 50, 20), # tl,
]
]
)
self.reboot_sitl()
self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
self.clear_fence()
self.wait_ready_to_arm()
self.progress("Ensure we can arm after clearing polygon fence type enabled")
self.upload_fences_from_locations(
mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION,
[
[ # over the top of the vehicle
self.offset_location_ne(here, 20, 20), # bl
self.offset_location_ne(here, 20, 50), # br
self.offset_location_ne(here, 50, 50), # tr
self.offset_location_ne(here, 50, 20), # tl,
]
]
)
self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
self.set_parameter('FENCE_TYPE', 2)
self.wait_ready_to_arm()
self.set_parameter('FENCE_TYPE', 6)
self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
def tests(self):
'''return list of all tests'''
ret = super(AutoTestRover, self).tests()
@ -6900,6 +6990,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.RTL_SPEED,
self.MissionRetransfer,
self.FenceFullAndPartialTransfer,
self.MissionPolyEnabledPreArm,
])
return ret