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SITL: disable avoidance so we can trigger fence failsafe

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This commit is contained in:
Randy Mackay 2016-06-20 16:46:07 +09:00
parent 82bd847e11
commit a7422153cb
1 changed files with 6 additions and 2 deletions
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8
Tools/autotest/arducopter.py
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@ -396,8 +396,9 @@ def fly_fence_test(mavproxy, mav, timeout=180):
mavproxy.send('switch 5\n') # loiter mode
wait_mode(mav, 'LOITER')
# enable fence
# enable fence, disable avoidance
mavproxy.send('param set FENCE_ENABLE 1\n')
mavproxy.send('param set AVOID_ENABLE 0\n')
# first east
print("turn east")
@ -435,8 +436,11 @@ def fly_fence_test(mavproxy, mav, timeout=180):
wait_mode(mav, 'STABILIZE')
print("Reached home OK")
return True
# disable fence
# disable fence, enable avoidance
mavproxy.send('param set FENCE_ENABLE 0\n')
mavproxy.send('param set AVOID_ENABLE 1\n')
# reduce throttle
mavproxy.send('rc 3 1000\n')
# switch mode to stabilize