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Tools: autotest: Plane: TerrainRally: test terrain alt frame on rally point

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Iampete1 2023-10-25 17:16:42 +01:00 committed by Andrew Tridgell
parent cd621f0503
commit 9ed5dfc768
1 changed files with 34 additions and 1 deletions
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35
Tools/autotest/arduplane.py
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@ -1908,7 +1908,40 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
accuracy=200,
target_altitude=None,
timeout=600)
self.progress("Reached rally point")
self.progress("Reached rally point with TERRAIN_FOLLOW")
# Fly back to guided location
self.change_mode("GUIDED")
self.do_reposition(guided_loc, frame=mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT)
self.progress("Flying to back to guided location")
# Disable terrain following and re-load rally point with relative to terrain altitude
self.set_parameter("TERRAIN_FOLLOW", 0)
rally_item = [self.create_MISSION_ITEM_INT(
mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
x=int(rally_loc.lat*1e7),
y=int(rally_loc.lng*1e7),
z=rally_loc.alt,
frame=mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT,
mission_type=mavutil.mavlink.MAV_MISSION_TYPE_RALLY
)]
self.correct_wp_seq_numbers(rally_item)
self.check_rally_upload_download(rally_item)
# Once back at guided location re-trigger RTL
self.wait_location(guided_loc,
accuracy=200,
target_altitude=None,
timeout=600)
self.change_mode("RTL")
self.progress("Flying to rally point")
self.wait_location(rally_loc,
accuracy=200,
target_altitude=None,
timeout=600)
self.progress("Reached rally point with terrain alt frame")
self.context_pop()
self.disarm_vehicle(force=True)