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Tools: autotest: quadplane: add weathervane test

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Gone4Dirt 2022-01-23 22:08:36 +00:00 committed by Andrew Tridgell
parent 15b3dbe63c
commit a11634e1e8
1 changed files with 25 additions and 0 deletions
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25
Tools/autotest/quadplane.py
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@ -715,6 +715,27 @@ class AutoTestQuadPlane(AutoTest):
self.set_rc(4, 1500) self.set_rc(4, 1500)
self.do_RTL() self.do_RTL()
def weathervane_test(self):
# We test nose into wind code paths and yaw direction in copter autotest,
# so we shall test the side into wind yaw direction and plane code paths here.
self.set_parameters({"SIM_WIND_SPD": 10,
"SIM_WIND_DIR": 240,
"Q_WVANE_ENABLE": 3, # WVANE_ENABLE = 3 gives direction of side into wind
"Q_WVANE_GAIN": 3,
"STICK_MIXING": 0})
self.takeoff(10, mode="QLOITER")
# Turn aircraft to heading 90 deg
self.set_rc(4, 1700)
self.wait_heading(90)
self.set_rc(4, 1500)
# Now wait for weathervaning to activate and turn side-on to wind at 240 deg therefore heading 150 deg
self.wait_heading(150, accuracy=5, timeout=180)
self.do_RTL()
def CPUFailsafe(self): def CPUFailsafe(self):
'''In lockup Plane should copy RC inputs to RC outputs''' '''In lockup Plane should copy RC inputs to RC outputs'''
self.plane_CPUFailsafe() self.plane_CPUFailsafe()
@ -822,6 +843,10 @@ class AutoTestQuadPlane(AutoTest):
("Mission", "Dalby Mission", ("Mission", "Dalby Mission",
lambda: self.fly_mission("Dalby-OBC2016.txt", "Dalby-OBC2016-fence.txt")), lambda: self.fly_mission("Dalby-OBC2016.txt", "Dalby-OBC2016-fence.txt")),
("Weathervane",
"Test Weathervane Functionality",
self.weathervane_test),
("QAssist", ("QAssist",
"QuadPlane Assist tests", "QuadPlane Assist tests",
self.test_qassist), self.test_qassist),