AutoTest: Adds additional tests to ArduCopter to test autoenable and floor

Adds tests for:
* Testing auto-enable disabled (when no autoenabling of the fence is required)
* Test auto-enabled always after takeoff (when takeoff complete condition met)
* Test auto-enabled disable floor only (when land sequence begins)
* Test auto- on arm/disarm (when vehicle is armed/disarmed)
* Tests ability to land when fence is breached
This commit is contained in:
James O'Shannessy 2021-01-11 16:37:29 +11:00 committed by Peter Barker
parent e4f1e26b5c
commit b2346ef6df
2 changed files with 141 additions and 1 deletions

View File

@ -1377,6 +1377,124 @@ class AutoTestCopter(AutoTest):
self.zero_throttle()
def fly_fence_autoenable_always_disabled(self):
self.progress("Test AutoEnable Fence - AutoEnable Disabled")
self.context_push()
self.set_parameter("FENCE_AUTOENABLE", 0)
self.assert_fence_disabled()
self.change_mode("GUIDED")
self.wait_ready_to_arm()
self.arm_vehicle()
self.user_takeoff(alt_min=10)
# Check fence is still disabled
self.assert_fence_disabled()
self.change_mode('LAND')
# Fence disables at start of landing, check fence is disabled
self.assert_fence_disabled()
self.wait_landed_and_disarmed()
self.context_pop()
def fly_fence_autoenable_always_after_takeoff(self):
self.progress("Test AutoEnable Fence - After Takeoff Complete")
self.context_push()
self.set_parameter("FENCE_AUTOENABLE", 1)
self.change_mode("GUIDED")
self.wait_ready_to_arm()
self.arm_vehicle()
self.user_takeoff(alt_min=10)
# Check fence is enabled
self.assert_fence_enabled(timeout=10)
self.change_mode('LAND')
# Fence disables at start of landing, check fence is disabled
self.assert_fence_disabled()
self.wait_landed_and_disarmed()
self.context_pop()
def fly_fence_autoenable_after_takeoff_disable_floor_on_land(self):
self.progress("Test AutoEnable Fence - Enable after Takeoff, Disable floor on land")
self.context_push()
self.set_parameter("FENCE_AUTOENABLE", 2)
self.change_mode("GUIDED")
self.wait_ready_to_arm()
self.arm_vehicle()
self.user_takeoff(alt_min=10)
# Check fence is enabled
self.assert_fence_enabled()
self.change_mode('LAND')
# Fence disables at start of landing, check fence is disabled
self.assert_fence_enabled()
self.wait_landed_and_disarmed()
self.context_pop()
def fly_fence_autoenable_arm_disarm(self):
self.progress("Test AutoEnable Fence - Enable on Arming, Disable on Disarm")
self.context_push()
self.set_parameter("FENCE_AUTOENABLE", 3)
self.change_mode("GUIDED")
self.wait_ready_to_arm()
self.arm_vehicle()
# Fence enables on arming, check fence is enabled
self.assert_fence_enabled()
self.disarm_vehicle(force=True)
# Fence disables on disarm, check fence is disabled
self.assert_fence_disabled()
self.context_pop()
def fly_fence_autoenable_test(self):
"""fly_fence_autoenable_test. Fly test missions to auto-enable
fence. Tests all auto-enable conditions"""
self.progress("Test Fence Auto-Enable Conditions")
self.set_parameter("FENCE_ENABLE", 0)
self.set_parameter("FENCE_TYPE", 15)
self.set_parameter("FENCE_ALT_MIN", -10)
self.fly_fence_autoenable_always_disabled()
self.fly_fence_autoenable_always_after_takeoff()
self.fly_fence_autoenable_after_takeoff_disable_floor_on_land()
self.fly_fence_autoenable_arm_disarm()
def fly_fence_floor_enabled_landing(self):
"""fly_fence_floor_enabled_landing.
"""
fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
self.progress("Test Landing while fence floor enabled")
self.set_parameter("AVOID_ENABLE", 0)
self.set_parameter("FENCE_AUTOENABLE", 1)
self.set_parameter("FENCE_TYPE", 15)
self.set_parameter("FENCE_ALT_MIN", 10)
self.set_parameter("FENCE_ALT_MAX", 20)
self.change_mode("GUIDED")
self.wait_ready_to_arm()
self.arm_vehicle()
self.user_takeoff(alt_min=15)
# Check fence is enabled
self.assert_fence_enabled()
# Change to RC controlled mode
self.change_mode('LOITER')
self.set_rc(3, 1800)
self.wait_mode('RTL', timeout=120)
self.wait_landed_and_disarmed()
self.assert_fence_enabled()
# Assert fence is not healthy
self.assert_sensor_state(fence_bit, healthy=False)
def fly_gps_glitch_loiter_test(self, timeout=30, max_distance=20):
"""fly_gps_glitch_loiter_test. Fly south east in loiter and test
@ -6526,6 +6644,14 @@ class AutoTestCopter(AutoTest):
"Test Min Alt Fence",
self.fly_alt_min_fence_test), #26s
("FenceAutoEnable",
"Test Fence Auto-Enable conditions",
self.fly_fence_autoenable_test),
("FenceFloorEnabledLanding",
"Test Landing with Fence floor enabled",
self.fly_fence_floor_enabled_landing),
("AutoTuneSwitch",
"Fly AUTOTUNE on a switch",
self.fly_autotune_switch), #105s

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@ -5264,6 +5264,20 @@ class AutoTest(ABC):
if self.sensor_has_state(mavutil.mavlink.MAV_SYS_STATUS_PREARM_CHECK, True, True, True):
break
def assert_fence_enabled(self, timeout=2):
# Check fence is enabled
m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=timeout)
self.progress("Got (%s)" % str(m))
if m is None:
raise NotAchievedException("Fence status was not received")
def assert_fence_disabled(self, timeout=2):
# Check fence is not enabled
m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=timeout)
self.progress("Got (%s)" % str(m))
if m is not None:
raise NotAchievedException("Fence status received unexpectedly")
def wait_ready_to_arm(self, timeout=120, require_absolute=True, check_prearm_bit=True):
# wait for EKF checks to pass
self.progress("Waiting for ready to arm")