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Tools: autotest: quadplane: test alt assist and transition failure action

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Iampete1 2024-03-07 20:25:36 +00:00 committed by Andrew Tridgell
parent fbcf37f6ca
commit 8df49d72f3
1 changed files with 26 additions and 4 deletions
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30
Tools/autotest/quadplane.py
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@ -808,7 +808,6 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
def QAssist(self): def QAssist(self):
'''QuadPlane Assist tests''' '''QuadPlane Assist tests'''
# find a motor peak
self.takeoff(10, mode="QHOVER") self.takeoff(10, mode="QHOVER")
self.set_rc(3, 1800) self.set_rc(3, 1800)
self.change_mode("FBWA") self.change_mode("FBWA")
@ -841,6 +840,7 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
comparator=operator.eq) comparator=operator.eq)
self.set_rc(3, 1300) self.set_rc(3, 1300)
# Test angle assist
self.context_push() self.context_push()
self.progress("Rolling over to %.0f degrees" % -lim_roll_deg) self.progress("Rolling over to %.0f degrees" % -lim_roll_deg)
self.set_rc(1, 1000) self.set_rc(1, 1000)
@ -856,9 +856,31 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
self.wait_roll(lim_roll_deg, 5) self.wait_roll(lim_roll_deg, 5)
self.context_pop() self.context_pop()
self.set_rc(1, 1500) self.set_rc(1, 1500)
self.set_parameter("Q_RTL_MODE", 1)
self.change_mode("RTL") # Test alt assist, climb to 60m and set assist alt to 50m
self.wait_disarmed(timeout=300) self.context_push()
guided_loc = self.home_relative_loc_ne(0, 0)
guided_loc.alt = 60
self.change_mode("GUIDED")
self.do_reposition(guided_loc)
self.wait_altitude(58, 62, relative=True)
self.set_parameter("Q_ASSIST_ALT", 50)
# Try and descent to 40m
guided_loc.alt = 40
self.do_reposition(guided_loc)
# Expect alt assist to kick in, eg "Alt assist 48.9m"
self.wait_statustext(r"Alt assist \d*.\d*m", regex=True, timeout=100)
# Test transition timeout, should switch to QRTL
self.set_parameter("Q_TRANS_FAIL_ACT", 1)
self.set_parameter("Q_TRANS_FAIL", 10)
self.wait_mode("QRTL")
self.context_pop()
self.wait_disarmed(timeout=200)
def LoiterAltQLand(self): def LoiterAltQLand(self):
'''test loitering and qland with terrain involved''' '''test loitering and qland with terrain involved'''