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autotest: test aborted landing with fence correctly

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This commit is contained in:
Andy Piper 2024-05-31 08:21:30 +01:00 committed by Peter Barker
parent ee7742ac40
commit c216536a94
1 changed files with 5 additions and 3 deletions
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8
Tools/autotest/arduplane.py
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@ -3745,7 +3745,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
def FenceMinAltAutoEnableAbort(self):
'''Tests autoenablement of the alt min fence and fences on arming'''
self.set_parameters({
"FENCE_TYPE": 9, # Set fence type to min alt and max alt
"FENCE_TYPE": 8, # Set fence type to min alt
"FENCE_ACTION": 1, # Set action to RTL
"FENCE_ALT_MIN": 25,
"FENCE_ALT_MAX": 100,
@ -3760,11 +3760,11 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.wait_ready_to_arm()
self.arm_vehicle()
# max alt fence should now be enabled
self.assert_fence_enabled()
self.takeoff(alt=50, mode='TAKEOFF')
self.change_mode("FBWA")
# min alt fence should now be enabled
self.assert_fence_enabled()
self.set_rc(3, 1100) # lower throttle
self.progress("Waiting for RTL")
@ -3788,6 +3788,8 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.set_rc(2, 1200)
# self.set_rc(3, 1600) # raise throttle
self.wait_altitude(30, 40, timeout=200, relative=True)
# min alt fence should now be re-enabled
self.assert_fence_enabled()
self.change_mode("AUTO")
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL)