Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

autotest: add a disabled test for CRUISE maintaining height when home alt changed

This commit is contained in:
Peter Barker 2024-07-31 22:03:59 +10:00 committed by Peter Barker
parent 9e0fd1c9d5
commit 8f8e796e00
1 changed files with 15 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
Tools/autotest/arduplane.py
View File

@ -6015,6 +6015,19 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
other_prearm_failures_fatal=False, other_prearm_failures_fatal=False,
) )
def SetHomeAltChange(self):
'''check modes retain altitude when home alt changed'''
for mode in 'FBWB', 'CRUISE', 'LOITER':
self.wait_ready_to_arm()
home = self.home_position_as_mav_location()
self.takeoff(20)
higher_home = home
higher_home.alt += 40
self.set_home(higher_home)
self.wait_altitude(15, 25, relative=True, minimum_duration=10)
self.disarm_vehicle(force=True)
self.reboot_sitl()
def tests(self): def tests(self):
'''return list of all tests''' '''return list of all tests'''
ret = super(AutoTestPlane, self).tests() ret = super(AutoTestPlane, self).tests()
@ -6144,6 +6157,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.GuidedAttitudeNoGPS, self.GuidedAttitudeNoGPS,
self.ScriptStats, self.ScriptStats,
self.GPSPreArms, self.GPSPreArms,
self.SetHomeAltChange,
]) ])
return ret return ret
@ -6152,4 +6166,5 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
"LandingDrift": "Flapping test. See https://github.com/ArduPilot/ardupilot/issues/20054", "LandingDrift": "Flapping test. See https://github.com/ArduPilot/ardupilot/issues/20054",
"InteractTest": "requires user interaction", "InteractTest": "requires user interaction",
"ClimbThrottleSaturation": "requires https://github.com/ArduPilot/ardupilot/pull/27106 to pass", "ClimbThrottleSaturation": "requires https://github.com/ArduPilot/ardupilot/pull/27106 to pass",
"SetHomeAltChange": "https://github.com/ArduPilot/ardupilot/issues/5672",
} }