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Tools: autotest: fix horizontal fence test 

We do not receive position updates fast enough to reliably detect the
vehicle to be within 10m of home, so increase that radius
This commit is contained in:
Peter Barker 2019-03-08 09:28:46 +11:00 committed by Peter Barker
parent 6418226106
commit 9f80e5b5f5
1 changed files with 20 additions and 7 deletions
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27
Tools/autotest/arducopter.py
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@ -680,12 +680,25 @@ class AutoTestCopter(AutoTest):
self.wait_heading(160)
self.set_rc(4, 1500)
# fly forward (east) at least 20m
fence_radius = self.get_parameter("FENCE_RADIUS")
self.progress("flying forward (east) until we hit fence")
pitching_forward = True
self.set_rc(2, 1100)
self.wait_distance(20)
# start timer
self.progress("Waiting for fence breach")
tstart = self.get_sim_time()
while not self.mode_is("RTL"):
if self.get_sim_time_cached() - tstart > 30:
self.NotAchievedException("Did not breach fence")
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
alt = m.relative_alt / 1000.0 # mm -> m
home_distance = self.distance_to_home(use_cached_home=True)
self.progress("Alt: %.02f HomeDistance: %.02f (fence radius=%f)" %
(alt, home_distance, fence_radius))
self.progress("Waiting until we get home and disarm")
tstart = self.get_sim_time()
while self.get_sim_time_cached() < tstart + timeout:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
@ -694,7 +707,7 @@ class AutoTestCopter(AutoTest):
self.progress("Alt: %.02f HomeDistance: %.02f" %
(alt, home_distance))
# recenter pitch sticks once we're home so we don't fly off again
if pitching_forward and home_distance < 10:
if pitching_forward and home_distance < 50:
pitching_forward = False
self.set_rc(2, 1475)
# disable fence
@ -723,8 +736,8 @@ class AutoTestCopter(AutoTest):
# give we're testing RTL, doing one here probably doesn't make sense
home_distance = self.distance_to_home(use_cached_home=True)
raise AutoTestTimeoutException(
("Fence test failed to reach home - "
"timed out after %u seconds" % timeout))
"Fence test failed to reach home (%fm distance) - "
"timed out after %u seconds" % (home_distance, timeout,))
# fly_alt_fence_test - fly up until you hit the fence
def fly_alt_max_fence_test(self):
@ -2920,7 +2933,7 @@ class AutoTestCopter(AutoTest):
("HorizontalFence",
"Test horizontal fence",
lambda: self.fly_fence_test(180)),
self.fly_fence_test),
("MaxAltFence",
"Test Max Alt Fence",