Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Tools: autotest: Copter: add avoidance test for beacon fence

Browse Source
This commit is contained in:
Peter Barker 2019-05-29 20:23:58 +10:00 committed by Randy Mackay
parent 3008fe6eb5
commit 9ee0befb38
1 changed files with 42 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

42
Tools/autotest/arducopter.py
View File

@ -3206,6 +3206,44 @@ class AutoTestCopter(AutoTest):
self.context_pop()
self.mavproxy.send("fence clear\n")
self.disarm_vehicle(force=True)
if ex is not None:
raise ex
def fly_beacon_avoidance_test(self):
self.context_push()
ex = None
try:
self.set_parameter("BCN_TYPE", 10)
self.set_parameter("BCN_LATITUDE", int(SITL_START_LOCATION.lat))
self.set_parameter("BCN_LONGITUDE", int(SITL_START_LOCATION.lng))
self.set_parameter("BCN_ORIENT_YAW", 45)
self.set_parameter("AVOID_ENABLE", 4)
self.reboot_sitl()
self.takeoff(10, mode="LOITER")
self.set_rc(2, 1400)
west_loc = mavutil.location(-35.362919, 149.165055, 0, 0)
self.wait_location(west_loc, accuracy=7)
self.reach_heading_manual(0)
north_loc = mavutil.location(-35.362881, 149.165103, 0, 0)
self.wait_location(north_loc, accuracy=7)
self.set_rc(2, 1500)
self.set_rc(1, 1600)
east_loc = mavutil.location(-35.362986, 149.165227, 0, 0)
self.wait_location(east_loc, accuracy=7)
self.set_rc(1, 1500)
self.set_rc(2, 1600)
south_loc = mavutil.location(-35.363025, 149.165182, 0, 0)
self.wait_location(south_loc, accuracy=7)
self.set_rc(2, 1500)
self.do_RTL()
except Exception as e:
self.progress("Caught exception: %s" % str(e))
ex = e
self.context_pop()
self.mavproxy.send("fence clear\n")
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex is not None:
raise ex
@ -3285,6 +3323,10 @@ class AutoTestCopter(AutoTest):
"Test fence avoidance slide behaviour",
self.fly_fence_avoidance_test),
("AC_Avoidance_Beacon",
"Test beacon avoidance slide behaviour",
self.fly_beacon_avoidance_test),
("HorizontalFence",
"Test horizontal fence",
self.fly_fence_test),