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autotest: add test for quadplane stickmixing

This commit is contained in:
Peter Barker 2020-05-08 09:58:39 +10:00 committed by Peter Barker
parent 0a5021fdcf
commit c8fdf9305b
1 changed files with 16 additions and 0 deletions
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16
Tools/autotest/quadplane.py
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@ -406,6 +406,18 @@ class AutoTestQuadPlane(AutoTest):
"CPUFailsafe": "servo channel values not scaled like ArduPlane",
}
def test_pilot_yaw(self):
self.takeoff(10, mode="QLOITER")
self.set_parameter("STICK_MIXING", 0)
self.set_rc(4, 1700)
for mode in "QLOITER", "QHOVER":
self.wait_heading(45)
self.wait_heading(90)
self.wait_heading(180)
self.wait_heading(275)
self.set_rc(4, 1500)
self.do_RTL()
def CPUFailsafe(self):
'''In lockup Plane should copy RC inputs to RC outputs'''
self.plane_CPUFailsafe()
@ -450,6 +462,10 @@ class AutoTestQuadPlane(AutoTest):
ret.extend([
("TestMotorMask", "Test output_motor_mask", self.test_motor_mask),
("PilotYaw",
"Test pilot yaw in various modes",
self.test_pilot_yaw),
("ParameterChecks",
"Test Arming Parameter Checks",
self.test_parameter_checks),