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Tools: autotest: quadplane: reboot for tailsitters and allow longer time for disarm

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Iampete1 2021-10-25 01:36:05 +01:00 committed by Andrew Tridgell
parent ef9580fcf2
commit bc7c5c24da
1 changed files with 5 additions and 1 deletions
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6
Tools/autotest/arduplane.py
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@ -534,7 +534,7 @@ class AutoTestPlane(AutoTest):
self.wait_waypoint(1, num_wp, max_dist=60, timeout=mission_timeout) self.wait_waypoint(1, num_wp, max_dist=60, timeout=mission_timeout)
self.wait_groundspeed(0, 0.5, timeout=mission_timeout) self.wait_groundspeed(0, 0.5, timeout=mission_timeout)
if quadplane: if quadplane:
self.wait_statustext("Throttle disarmed", timeout=70) self.wait_statustext("Throttle disarmed", timeout=200)
else: else:
self.wait_statustext("Auto disarmed", timeout=60) self.wait_statustext("Auto disarmed", timeout=60)
self.progress("Mission OK") self.progress("Mission OK")
@ -2993,6 +2993,10 @@ class AutoTestPlane(AutoTest):
quadplane = self.get_parameter('Q_ENABLE') quadplane = self.get_parameter('Q_ENABLE')
if quadplane: if quadplane:
mission_file = "basic-quadplane.txt" mission_file = "basic-quadplane.txt"
tailsitter = self.get_parameter('Q_TAILSIT_ENABLE')
if tailsitter:
# tailsitter needs extra re-boot to pick up the rotated AHRS view
self.reboot_sitl()
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
self.fly_mission(mission_file, strict=False, quadplane=quadplane, mission_timeout=400.0) self.fly_mission(mission_file, strict=False, quadplane=quadplane, mission_timeout=400.0)