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autotest: add test for loiter-to-alt

This commit is contained in:
Peter Barker 2022-12-06 13:57:28 +11:00 committed by Andrew Tridgell
parent 5b9403527b
commit b6f1891f9f
2 changed files with 27 additions and 0 deletions
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10
Tools/autotest/ArduPlane_Tests/MAV_CMD_NAV_LOITER_TO_ALT/mission.txt Normal file
View File

@ -0,0 +1,10 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -27.274439 151.290064 343.100006 1
1 0 3 84 0.000000 0.000000 0.000000 0.000000 -27.272768 151.288529 30.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -27.273631 151.289380 30.000000 1
3 0 3 31 0.000000 0.000000 0.000000 0.000000 -27.275714 151.291065 120.000000 1
4 0 3 17 0.000000 0.000000 0.000000 0.000000 -27.278535 151.298429 120.000000 1
5 0 3 31 0.000000 -100.000000 0.000000 0.000000 -27.277746 151.298205 50.000000 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 -27.274219 151.294322 40.000000 1
7 0 3 16 0.000000 0.000000 0.000000 0.000000 -27.273160 151.290969 30.000000 1
8 0 3 85 0.000000 0.000000 0.000000 0.000000 -27.272804 151.288573 0.000000 1

17
Tools/autotest/quadplane.py
View File

@ -933,6 +933,22 @@ class AutoTestQuadPlane(AutoTest):
self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_EXTENDED_SYS_STATE, -1) self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_EXTENDED_SYS_STATE, -1)
self.disarm_vehicle() self.disarm_vehicle()
def MAV_CMD_NAV_LOITER_TO_ALT(self, target_system=1, target_component=1):
'''ensure consecutive loiter to alts work'''
self.load_mission('mission.txt')
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_current_waypoint(4, timeout=240)
self.assert_altitude(120, accuracy=5, relative=True)
self.delay_sim_time(30)
self.assert_altitude(120, accuracy=5, relative=True)
self.set_current_waypoint(5)
self.wait_altitude(altitude_min=65, altitude_max=75, relative=True)
if self.current_waypoint() != 5:
raise NotAchievedException("Should pass 90m before passing waypoint 5")
self.wait_disarmed(timeout=300)
def Mission(self): def Mission(self):
'''fly the OBC 2016 mission in Dalby''' '''fly the OBC 2016 mission in Dalby'''
self.fly_mission( self.fly_mission(
@ -962,5 +978,6 @@ class AutoTestQuadPlane(AutoTest):
self.MidAirDisarmDisallowed, self.MidAirDisarmDisallowed,
self.BootInAUTO, self.BootInAUTO,
self.Ship, self.Ship,
self.MAV_CMD_NAV_LOITER_TO_ALT,
]) ])
return ret return ret