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Tools: autotest: fix horizontal fence test

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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",