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AutoTest: Fix autotest from failing due to state from earlier test

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Autotest was failing because there was an expectation that the plane would fly relatively north from the takeoff point.
This assumption may not be true. We work around it by using a tin can instead of an exclusion polygon so that we breach no matter the direction we fly.
This commit is contained in:
James O'Shannessy 2021-05-04 12:08:40 +10:00 committed by Peter Barker
parent 0e656c1504
commit bc38d8a78c
1 changed files with 8 additions and 18 deletions
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26
Tools/autotest/arduplane.py
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@ -2755,26 +2755,16 @@ class AutoTestPlane(AutoTest):
want_radius = 100 # Fence Return Radius
self.set_parameter("FENCE_ACTION", 6)
self.set_parameter("FENCE_TYPE", 4)
self.set_parameter("FENCE_TYPE", 2)
self.set_parameter("FENCE_RADIUS", 300)
self.set_parameter("RTL_RADIUS", want_radius)
self.set_parameter("NAVL1_LIM_BANK", 60)
# Generate an exclusion fence just north of takeoff point
home_loc = self.mav.location()
locs = [
mavutil.location(home_loc.lat + 0.010, home_loc.lng - 0.003, 0, 0),
mavutil.location(home_loc.lat + 0.010, home_loc.lng + 0.003, 0, 0),
mavutil.location(home_loc.lat + 0.008, home_loc.lng + 0.003, 0, 0),
mavutil.location(home_loc.lat + 0.008, home_loc.lng - 0.003, 0, 0),
]
self.upload_fences_from_locations(
mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION,
[
locs
]
)
self.clear_fence()
self.delay_sim_time(1)
self.wait_ready_to_arm()
home_loc = self.mav.location()
self.takeoff(alt=50)
self.change_mode("CRUISE")
self.wait_distance(150, accuracy=20)
@ -2786,8 +2776,8 @@ class AutoTestPlane(AutoTest):
self.delay_sim_time(30)
items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
if len(items) != 4:
raise NotAchievedException("Unexpected fencepoint count (want=%u got=%u)" % (4, len(items)))
if len(items) != 0:
raise NotAchievedException("Unexpected fencepoint count (want=%u got=%u)" % (0, len(items)))
# Check there are no fence return points specified still
for fence_loc in items:
@ -2952,7 +2942,7 @@ class AutoTestPlane(AutoTest):
self.test_fence_breach_no_return_point),
("FenceNoFenceReturnPointInclusion",
"Tests using home as fence return point when none is present, and no inclusion fence is uploadedg",
"Tests using home as fence return point when none is present, and no inclusion fence is uploaded",
self.test_fence_breach_no_return_point_no_inclusion),
("FenceDisableUnderAction",