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Tools: Add autotest for pitot tube blockage handling

This commit is contained in:
Paul Riseborough 2022-07-03 15:46:32 +10:00 committed by Andrew Tridgell
parent e6a409346c
commit ada3537b8f
1 changed files with 29 additions and 0 deletions
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29
Tools/autotest/arduplane.py
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@ -1723,6 +1723,34 @@ class AutoTestPlane(AutoTest):
self.run_subtest("Mission test",
lambda: self.fly_mission("ap1.txt", strict=False))
def PitotBlockage(self):
'''Test detection and isolation of a blocked pitot tube'''
self.set_parameter("ARSPD_OPTIONS",15)
self.set_parameter("ARSPD_USE",1)
self.set_parameter("SIM_WIND_SPD",10)
self.set_parameter("SIM_WIND_DIR",0)
self.set_parameter("ARSPD_WIND_MAX",15)
self.wait_ready_to_arm()
self.change_mode("TAKEOFF")
self.arm_vehicle()
self.delay_sim_time(60)
# simulate the effect of a blocked pitot tube
self.set_parameter("ARSPD_RATIO",0.1)
self.delay_sim_time(10)
if (self.get_parameter("ARSPD_USE") == 0):
self.progress("Faulty Sensor Disabled")
else:
raise NotAchievedException("Airspeed Sensor Not Disabled")
self.delay_sim_time(20)
# simulate the effect of blockage clearing
self.set_parameter("ARSPD_RATIO",2.0)
self.delay_sim_time(60)
if (self.get_parameter("ARSPD_USE") == 1):
self.progress("Sensor Re-Enabled")
else:
raise NotAchievedException("Airspeed Sensor Not Re-Enabled")
self.disarm_vehicle(force=True)
def AIRSPEED_AUTOCAL(self):
'''Test AIRSPEED_AUTOCAL'''
self.progress("Ensure no AIRSPEED_AUTOCAL on ground")
@ -3927,6 +3955,7 @@ class AutoTestPlane(AutoTest):
self.TestGripperMission,
self.Parachute,
self.ParachuteSinkRate,
self.PitotBlockage,
self.AIRSPEED_AUTOCAL,
self.RangeFinder,
self.FenceStatic,