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autotest: adjust DO_CHANGE_SPEED test for EAS2TAS corrections

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This commit is contained in:
Andrew Tridgell 2022-05-17 08:31:04 +10:00
parent 457568d3c5
commit 895c57562c
1 changed files with 22 additions and 11 deletions
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33
Tools/autotest/arduplane.py
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@ -710,17 +710,17 @@ class AutoTestPlane(AutoTest):
) )
self.delay_sim_time(10) self.delay_sim_time(10)
self.progress("Ensuring initial speed is known and relatively constant") self.progress("Ensuring initial speed is known and relatively constant")
initial_speed = 21.5 initial_speed = 22.0
timeout = 10 timeout = 10
tstart = self.get_sim_time() tstart = self.get_sim_time()
while True: while True:
if self.get_sim_time_cached() - tstart > timeout: if self.get_sim_time_cached() - tstart > timeout:
break break
m = self.mav.recv_match(type='VFR_HUD', blocking=True) m = self.mav.recv_match(type='VFR_HUD', blocking=True)
self.progress("GroundSpeed: %f want=%f" % self.progress("AirSpeed: %f want=%f" %
(m.groundspeed, initial_speed)) (m.airspeed, initial_speed))
if abs(initial_speed - m.groundspeed) > 1: if abs(initial_speed - m.airspeed) > 1:
raise NotAchievedException("Initial speed not as expected (want=%f got=%f" % (initial_speed, m.groundspeed)) raise NotAchievedException("Initial speed not as expected (want=%f got=%f" % (initial_speed, m.airspeed))
self.progress("Setting groundspeed") self.progress("Setting groundspeed")
new_target_groundspeed = initial_speed + 5 new_target_groundspeed = initial_speed + 5
@ -740,6 +740,17 @@ class AutoTestPlane(AutoTest):
self.wait_groundspeed(new_target_groundspeed-0.5, new_target_groundspeed+0.5, timeout=40) self.wait_groundspeed(new_target_groundspeed-0.5, new_target_groundspeed+0.5, timeout=40)
self.set_parameter("SIM_WIND_SPD", 0) self.set_parameter("SIM_WIND_SPD", 0)
# clear target groundspeed
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED,
1, # groundspeed
0,
-1, # throttle / no change
0, # absolute values
0,
0,
0)
self.progress("Setting airspeed") self.progress("Setting airspeed")
new_target_airspeed = initial_speed + 5 new_target_airspeed = initial_speed + 5
self.run_cmd( self.run_cmd(
@ -751,10 +762,10 @@ class AutoTestPlane(AutoTest):
0, 0,
0, 0,
0) 0)
self.wait_groundspeed(new_target_airspeed-0.5, new_target_airspeed+0.5) self.wait_airspeed(new_target_airspeed-0.5, new_target_airspeed+0.5)
self.progress("Adding some wind, hoping groundspeed increases/decreases") self.progress("Adding some wind, hoping groundspeed increases/decreases")
self.set_parameters({ self.set_parameters({
"SIM_WIND_SPD": 5, "SIM_WIND_SPD": 7,
"SIM_WIND_DIR": 270, "SIM_WIND_DIR": 270,
}) })
self.delay_sim_time(5) self.delay_sim_time(5)
@ -765,7 +776,7 @@ class AutoTestPlane(AutoTest):
raise NotAchievedException("Did not achieve groundspeed delta") raise NotAchievedException("Did not achieve groundspeed delta")
m = self.mav.recv_match(type='VFR_HUD', blocking=True) m = self.mav.recv_match(type='VFR_HUD', blocking=True)
delta = abs(m.airspeed - m.groundspeed) delta = abs(m.airspeed - m.groundspeed)
want_delta = 4 want_delta = 5
self.progress("groundspeed and airspeed should be different (have=%f want=%f)" % (delta, want_delta)) self.progress("groundspeed and airspeed should be different (have=%f want=%f)" % (delta, want_delta))
if delta > want_delta: if delta > want_delta:
break break
@ -3720,15 +3731,15 @@ function'''
self.change_mode('AUTO') self.change_mode('AUTO')
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
self.set_parameter("NAVL1_LIM_BANK", 50)
self.wait_current_waypoint(2) self.wait_current_waypoint(2)
for (loc, expected_radius) in tests: for (loc, expected_radius) in tests:
REALLY_BAD_FUDGE_FACTOR = 1.12555
self.wait_circling_point_with_radius( self.wait_circling_point_with_radius(
loc, loc,
REALLY_BAD_FUDGE_FACTOR * expected_radius, expected_radius,
epsilon=10.0, epsilon=20.0,
timeout=240, timeout=240,
) )
self.set_current_waypoint(self.current_waypoint()+1) self.set_current_waypoint(self.current_waypoint()+1)