Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

autotest: tweak Soaring test 

autotest is failing because our vspeed is below the 0.6 threshold after we exceed the minimal thermal time.

Tweak both numbers to try to make test reliable

Also re-arrange to try to reduce race-conditions between the Python and C++ code
This commit is contained in:
Peter Barker 2023-09-08 18:05:28 +10:00 committed by Peter Barker
parent 40c4bf5d6a
commit b1a0b35401
1 changed files with 10 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
Tools/autotest/arduplane.py
View File

@ -2573,11 +2573,6 @@ class AutoTestPlane(AutoTest):
self.load_mission('CMAC-soar.txt', strict=False)
self.set_current_waypoint(1)
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
# Enable thermalling RC
rc_chan = 0
for i in range(8):
@ -2591,15 +2586,22 @@ class AutoTestPlane(AutoTest):
self.set_rc_from_map({
rc_chan: 1900,
3: 1500, # Use trim airspeed.
})
self.set_parameters({
"SOAR_VSPEED": 0.55,
"SOAR_MIN_THML_S": 25,
})
self.set_current_waypoint(1)
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
# Wait to detect thermal
self.progress("Waiting for thermal")
self.wait_mode('THERMAL', timeout=600)
self.set_parameter("SOAR_VSPEED", 0.6)
# Wait to climb to SOAR_ALT_MAX
self.progress("Waiting for climb to max altitude")
alt_max = self.get_parameter('SOAR_ALT_MAX')