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autotest: added PrecisionLanding test

This commit is contained in:
Andrew Tridgell 2024-03-04 08:02:23 +11:00
parent 419a458c02
commit a685ebff17
1 changed files with 59 additions and 0 deletions
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59
Tools/autotest/quadplane.py
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@ -1335,6 +1335,64 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
self.remove_installed_script(applet_script)
self.reboot_sitl()
def PrecisionLanding(self):
'''VTOL precision landing'''
applet_script = "plane_precland.lua"
self.install_applet_script(applet_script)
target = mavutil.location(-27.27440414, 151.28984285, 342.8, 0)
self.set_parameters({
"SCR_ENABLE": 1,
"SIM_SPEEDUP": 4,
"PLND_ENABLED": 1,
"PLND_TYPE": 4,
"SIM_PLD_ENABLE": 1,
"SIM_PLD_LAT" : target.lat,
"SIM_PLD_LON" : target.lng,
"SIM_PLD_HEIGHT" : 0,
"SIM_PLD_ALT_LMT" : 50,
"SIM_PLD_DIST_LMT" : 30,
"RNGFND1_TYPE": 100,
"RNGFND1_PIN" : 0,
"RNGFND1_SCALING" : 12.2,
"RNGFND1_MAX_CM" : 5000,
"RNGFND_LANDING" : 1,
})
self.reboot_sitl()
self.context_push()
self.context_collect('STATUSTEXT')
self.set_parameters({
"PLND_ALT_CUTOFF" : 5,
})
self.scripting_restart()
self.wait_text("PLND: Loaded", check_context=True)
self.wait_ready_to_arm()
self.change_mode("GUIDED")
self.arm_vehicle()
self.takeoff(60, 'GUIDED')
self.wait_altitude(58, 62, relative=True)
self.drain_mav()
self.change_mode("QRTL")
self.wait_text("PLND: Target Acquired", check_context=True, timeout=60)
self.wait_disarmed(timeout=180)
loc2 = self.mav.location()
error = self.get_distance(target, loc2)
self.progress("Target error %.1fm" % error)
if error > 2:
raise NotAchievedException("too far from target %.1fm" % error)
self.context_pop()
self.remove_installed_script(applet_script)
self.reboot_sitl()
def RCDisableAirspeedUse(self):
'''check disabling airspeed using RC switch'''
self.set_parameter("RC9_OPTION", 106)
@ -1578,6 +1636,7 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
self.LoiterAltQLand,
self.VTOLLandSpiral,
self.VTOLQuicktune,
self.PrecisionLanding,
Test(self.MotorTest, kwargs={ # tests motors 4 and 2
"mot1_servo_chan": 8, # quad-x second motor cw from f-r
"mot4_servo_chan": 6, # quad-x third motor cw from f-r