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Tools: autotest: Plane: add loiter terrain following test

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Iampete1 2021-04-04 20:34:45 +01:00 committed by Andrew Tridgell
parent 8764d69e2c
commit aa72b7da46
2 changed files with 48 additions and 0 deletions
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13
Tools/autotest/ArduPlane_Tests/Terrain-loiter/flaps.txt Normal file
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@ -0,0 +1,13 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.390015 1
1 0 3 22 15.000000 0.000000 0.000000 0.000000 -35.361279 149.164230 30.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361229 149.163025 80.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364563 149.163773 80.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364384 149.164795 80.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361027 149.164093 80.000000 1
6 0 0 177 2.000000 3.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
7 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.362915 149.162613 60.000000 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363136 149.162750 60.000000 1
9 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365467 149.164215 55.000000 1
10 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365009 149.165482 39.889999 1
11 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.363041 149.165222 0.000000 1

35
Tools/autotest/arduplane.py
View File

@ -2184,6 +2184,36 @@ class AutoTestPlane(AutoTest):
self.fly_mission("ap-terrain.txt", mission_timeout=600) self.fly_mission("ap-terrain.txt", mission_timeout=600)
def test_loiter_terrain(self):
default_rad = self.get_parameter("WP_LOITER_RAD")
self.set_parameter("TERRAIN_FOLLOW", 1) # enable terrain following in loiter
self.set_parameter("WP_LOITER_RAD", 2000) # set very large loiter rad to get some terrain changes
alt = 200
self.takeoff(alt*0.9, alt*1.1)
self.set_rc(3, 1500)
self.change_mode("LOITER")
self.progress("loitering at %um" % alt)
tstart = self.get_sim_time()
while True:
now = self.get_sim_time_cached()
if now - tstart > 60*15: # enough time to do one and a bit circles
break
terrain = self.mav.recv_match(
type='TERRAIN_REPORT',
blocking=True,
timeout=1
)
if terrain is None:
raise NotAchievedException("Did not get TERRAIN_REPORT message")
rel_alt = terrain.current_height
self.progress("%um above terrain" % rel_alt)
if rel_alt > alt*1.2 or rel_alt < alt * 0.8:
raise NotAchievedException("Not terrain following")
self.progress("Returning home")
self.set_parameter("TERRAIN_FOLLOW", 0)
self.set_parameter("WP_LOITER_RAD", default_rad)
self.fly_home_land_and_disarm(240)
def fly_external_AHRS(self): def fly_external_AHRS(self):
"""Fly with external AHRS (VectorNav)""" """Fly with external AHRS (VectorNav)"""
self.customise_SITL_commandline(["--uartE=sim:VectorNav"]) self.customise_SITL_commandline(["--uartE=sim:VectorNav"])
@ -2921,6 +2951,10 @@ class AutoTestPlane(AutoTest):
"Test terrain following in mission", "Test terrain following in mission",
self.fly_terrain_mission), self.fly_terrain_mission),
("Terrain-loiter",
"Test terrain following in loiter",
self.test_loiter_terrain),
("ExternalAHRS", ("ExternalAHRS",
"Test external AHRS support", "Test external AHRS support",
self.fly_external_AHRS), self.fly_external_AHRS),
@ -2965,4 +2999,5 @@ class AutoTestPlane(AutoTest):
def disabled_tests(self): def disabled_tests(self):
return { return {
"Terrain-loiter": "Loading of terrain data is not reliable",
} }