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autotest: add test for two consecutive drops with no reboot

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This commit is contained in:
Andrew Tridgell 2021-07-22 15:24:44 +10:00
parent 9aa033d84a
commit 8b3e389112
1 changed files with 58 additions and 0 deletions
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58
Tools/autotest/arducopter.py
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@ -6906,6 +6906,60 @@ class AutoTestCopter(AutoTest):
def get_touchdownexpected_durations_from_current_onboard_log(self, ignore_multi=False):
return self.get_ground_effect_duration_from_current_onboard_log(12, ignore_multi=ignore_multi)
def ThrowDoubleDrop(self):
# test boomerang mode:
self.progress("Getting a lift to altitude")
self.set_parameters({
"SIM_SHOVE_Z": -11,
"THROW_TYPE": 1, # drop
"MOT_SPOOL_TIME": 2,
})
self.change_mode('THROW')
self.wait_ready_to_arm()
self.arm_vehicle()
try:
self.set_parameter("SIM_SHOVE_TIME", 30000)
except ValueError:
# the shove resets this to zero
pass
self.wait_altitude(100, 1000, timeout=100, relative=True)
self.context_collect('STATUSTEXT')
self.wait_statustext("throw detected - spooling motors", check_context=True, timeout=10)
self.wait_statustext("throttle is unlimited - uprighting", check_context=True)
self.wait_statustext("uprighted - controlling height", check_context=True)
self.wait_statustext("height achieved - controlling position", check_context=True)
self.progress("Waiting for still")
self.wait_speed_vector(Vector3(0, 0, 0))
self.change_mode('ALT_HOLD')
self.set_rc(3, 1000)
self.wait_disarmed(timeout=90)
self.zero_throttle()
self.progress("second flight")
self.upload_square_mission_items_around_location(self.poll_home_position())
self.set_parameters({
"THROW_NEXTMODE": 3, # auto
})
self.change_mode('THROW')
self.wait_ready_to_arm()
self.arm_vehicle()
try:
self.set_parameter("SIM_SHOVE_TIME", 30000)
except ValueError:
# the shove resets this to zero
pass
self.wait_altitude(100, 1000, timeout=100, relative=True)
self.wait_statustext("throw detected - spooling motors", check_context=True, timeout=10)
self.wait_statustext("throttle is unlimited - uprighting", check_context=True)
self.wait_statustext("uprighted - controlling height", check_context=True)
self.wait_statustext("height achieved - controlling position", check_context=True)
self.wait_mode('AUTO')
self.wait_disarmed(timeout=240)
def GroundEffectCompensation_takeOffExpected(self):
self.change_mode('ALT_HOLD')
self.set_parameter("LOG_FILE_DSRMROT", 1)
@ -7095,6 +7149,10 @@ class AutoTestCopter(AutoTest):
"Test setpoint global position",
self.test_set_position_global_int),
("ThrowDoubleDrop",
"Test a more complicated drop-mode scenario",
self.ThrowDoubleDrop),
("SetpointGlobalVel",
"Test setpoint global velocity",
self.test_set_velocity_global_int),