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autotest: add test which force-switches to DCM and watches plane land

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Peter Barker 2021-09-26 16:37:04 +10:00 committed by Peter Barker
parent ba5e94ad9a
commit b82b6f1e50
1 changed files with 18 additions and 1 deletions
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19
Tools/autotest/arduplane.py
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@ -727,7 +727,7 @@ class AutoTestPlane(AutoTest):
def fly_home_land_and_disarm(self, timeout=120):
filename = "flaps.txt"
self.progress("Using %s to fly home" % filename)
self.load_mission(filename)
self.load_generic_mission(filename)
self.change_mode("AUTO")
# don't set current waypoint to 8 unless we're distant from it
# or we arrive instantly and never see it as our current
@ -3068,6 +3068,19 @@ class AutoTestPlane(AutoTest):
self.fly_mission("ap-circuit.txt", mission_timeout=1200)
def ForcedDCM(self):
self.wait_ready_to_arm()
self.arm_vehicle()
self.takeoff(50)
self.context_collect('STATUSTEXT')
self.set_parameter("AHRS_EKF_TYPE", 0)
self.wait_statustext("DCM Active", check_context=True)
self.context_stop_collecting('STATUSTEXT')
self.fly_home_land_and_disarm()
def tests(self):
'''return list of all tests'''
ret = super(AutoTestPlane, self).tests()
@ -3281,6 +3294,10 @@ class AutoTestPlane(AutoTest):
"Circuit with baro drift",
self.fly_landing_baro_drift),
("ForcedDCM",
"Switch to DCM mid-flight",
self.ForcedDCM),
("LogUpload",
"Log upload",
self.log_upload),