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autotest: add test for auxilliary functions in missions

This commit is contained in:
Peter Barker 2021-02-18 13:13:38 +11:00 committed by Peter Barker
parent b55094fef4
commit b2f47ba367
2 changed files with 21 additions and 0 deletions
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6
Tools/autotest/ArduCopter_Tests/AuxFunctionsInMission/aux_functions.txt Normal file
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@ -0,0 +1,6 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.109985 1
1 0 3 22 0.000000 0.000000 0.000000 0.000000 -35.362790 149.165127 10.000000 1
2 0 0 218 70.000000 2.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
3 0 0 93 20.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
4 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1

15
Tools/autotest/arducopter.py
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@ -5738,6 +5738,17 @@ class AutoTestCopter(AutoTest):
self.wait_current_waypoint(0, timeout=10)
self.set_rc(7, 1000)
def test_aux_functions_in_mission(self):
self.load_mission("aux_functions.txt")
self.change_mode('LOITER')
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('AUTO')
self.set_rc(3, 1500)
self.wait_mode('ALT_HOLD')
self.change_mode('AUTO')
self.wait_rtl_complete()
def fly_rangefinder_drivers_fly(self, rangefinders):
'''ensure rangefinder gives height-above-ground'''
self.change_mode('GUIDED')
@ -6543,6 +6554,10 @@ class AutoTestCopter(AutoTest):
"Test random aux mode options",
self.test_aux_switch_options),
("AuxFunctionsInMission",
"Test use of auxilliary functions in missions",
self.test_aux_functions_in_mission),
("AutoTune",
"Fly AUTOTUNE mode",
self.fly_autotune), # 73s