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autotest: remove copter wait_for_alt

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use common wait_altitude instead
This commit is contained in:
Peter Barker 2023-08-04 20:55:44 +10:00 committed by Peter Barker
parent 86afb1d66b
commit c99b5e5d47
2 changed files with 6 additions and 13 deletions
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17
Tools/autotest/arducopter.py
View File

@ -129,7 +129,7 @@ class AutoTestCopter(AutoTest):
mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
p7=alt_min, p7=alt_min,
) )
self.wait_for_alt(alt_min, timeout=timeout, max_err=max_err) self.wait_altitude(alt_min-1, alt_min+max_err, relative=True, timeout=timeout)
def takeoff(self, def takeoff(self,
alt_min=30, alt_min=30,
@ -149,17 +149,10 @@ class AutoTestCopter(AutoTest):
self.user_takeoff(alt_min=alt_min, timeout=timeout, max_err=max_err) self.user_takeoff(alt_min=alt_min, timeout=timeout, max_err=max_err)
else: else:
self.set_rc(3, takeoff_throttle) self.set_rc(3, takeoff_throttle)
self.wait_for_alt(alt_min=alt_min, timeout=timeout, max_err=max_err) self.wait_altitude(alt_min-1, alt_min+max_err, relative=True, timeout=timeout)
self.hover() self.hover()
self.progress("TAKEOFF COMPLETE") self.progress("TAKEOFF COMPLETE")
def wait_for_alt(self, alt_min=30, timeout=30, max_err=5):
"""Wait for minimum altitude to be reached."""
self.wait_altitude(alt_min - 1,
(alt_min + max_err),
relative=True,
timeout=timeout)
def land_and_disarm(self, timeout=60): def land_and_disarm(self, timeout=60):
"""Land the quad.""" """Land the quad."""
self.progress("STARTING LANDING") self.progress("STARTING LANDING")
@ -171,7 +164,7 @@ class AutoTestCopter(AutoTest):
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True) m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
alt = m.relative_alt / 1000.0 # mm -> m alt = m.relative_alt / 1000.0 # mm -> m
if alt > min_alt: if alt > min_alt:
self.wait_for_alt(min_alt, timeout=timeout) self.wait_altitude(min_alt-1, min_alt+5, relative=True, timeout=timeout)
# self.wait_statustext("SIM Hit ground", timeout=timeout) # self.wait_statustext("SIM Hit ground", timeout=timeout)
self.wait_disarmed() self.wait_disarmed()
@ -2100,7 +2093,7 @@ class AutoTestCopter(AutoTest):
self.progress("Regaining altitude") self.progress("Regaining altitude")
self.change_mode('ALT_HOLD') self.change_mode('ALT_HOLD')
self.wait_for_alt(20, max_err=40) self.wait_altitude(19, 60, relative=True)
self.progress("Flipping in pitch") self.progress("Flipping in pitch")
self.set_rc(2, 1700) self.set_rc(2, 1700)
@ -2440,7 +2433,7 @@ class AutoTestCopter(AutoTest):
raise NotAchievedException("AUTOTUNE gains not present in pilot testing") raise NotAchievedException("AUTOTUNE gains not present in pilot testing")
# land without changing mode # land without changing mode
self.set_rc(3, 1000) self.set_rc(3, 1000)
self.wait_for_alt(0) self.wait_altitude(-1, 5, relative=True)
self.wait_disarmed() self.wait_disarmed()
# Check gains are still there after disarm # Check gains are still there after disarm
if (rlld == self.get_parameter("ATC_RAT_RLL_D") or if (rlld == self.get_parameter("ATC_RAT_RLL_D") or

2
Tools/autotest/helicopter.py
View File

@ -167,7 +167,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.user_takeoff(alt_min=alt_min) self.user_takeoff(alt_min=alt_min)
else: else:
self.set_rc(3, takeoff_throttle) self.set_rc(3, takeoff_throttle)
self.wait_for_alt(alt_min=alt_min, timeout=timeout) self.wait_altitude(alt_min-1, alt_min+5, relative=True, timeout=timeout)
self.hover() self.hover()
self.progress("TAKEOFF COMPLETE") self.progress("TAKEOFF COMPLETE")