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autotest: fixed precision landing test for copter

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make sure the target is away from the current location
This commit is contained in:
Andrew Tridgell 2019-04-04 18:37:07 +11:00 committed by Peter Barker
parent f0ee00f778
commit 84d5d4c933
1 changed files with 17 additions and 8 deletions
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25
Tools/autotest/arducopter.py
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@ -1676,7 +1676,20 @@ class AutoTestCopter(AutoTest):
self.set_parameter("RNGFND1_MIN_CM", 0)
self.set_parameter("RNGFND1_MAX_CM", 4000)
self.set_parameter("RNGFND1_PIN", 0)
self.set_parameter("RNGFND1_SCALING", 12.12)
self.set_parameter("RNGFND1_SCALING", 12)
self.set_parameter("SIM_SONAR_SCALE", 12)
start = self.mav.location()
target = start
(target.lat, target.lng) = mavextra.gps_offset(start.lat, start.lng, 4, -4)
self.progress("Setting target to %f %f" % (target.lat, target.lng))
self.set_parameter("SIM_PLD_ENABLE", 1)
self.set_parameter("SIM_PLD_LAT", target.lat)
self.set_parameter("SIM_PLD_LON", target.lng)
self.set_parameter("SIM_PLD_HEIGHT", 0)
self.set_parameter("SIM_PLD_ALT_LMT", 15)
self.set_parameter("SIM_PLD_DIST_LMT", 10)
self.reboot_sitl()
@ -1684,19 +1697,15 @@ class AutoTestCopter(AutoTest):
old_pos = self.mav.location()
self.zero_throttle()
self.takeoff(10, 1800)
# move away a little
self.set_rc(2, 1550)
self.wait_distance(5)
self.set_rc(2, 1500)
self.change_mode("LAND")
self.mav.motors_disarmed_wait()
self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
new_pos = self.mav.location()
delta = self.get_distance(old_pos, new_pos)
self.progress("Landed %f metres from original position" % delta)
delta = self.get_distance(target, new_pos)
self.progress("Landed %f metres from target position" % delta)
max_delta = 1
if delta > max_delta:
raise NotAchievedException("Did not land close enough to original position (%fm > %fm" % (delta, max_delta))
raise NotAchievedException("Did not land close enough to target position (%fm > %fm" % (delta, max_delta))
if not self.current_onboard_log_contains_message("PL"):
raise NotAchievedException("Did not see expected PL message")