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autotest: loosen slowdown constraint on zigzag test

This commit is contained in:
Peter Barker 2020-04-02 08:22:14 +11:00 committed by Peter Barker
parent 3a39e9cfc1
commit cbe1dba781
1 changed files with 10 additions and 9 deletions
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19
Tools/autotest/arducopter.py
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@ -2588,6 +2588,7 @@ class AutoTestCopter(AutoTest):
ZIGZAG = 24
j = 0
slowdown_speed = 0.3 # because Copter takes a long time to actually stop
self.start_subtest("Conduct ZigZag test for all 4 directions")
while j < 4:
self.progress("## Align heading with the run-way (j=%d)##" % j)
@ -2601,7 +2602,7 @@ class AutoTestCopter(AutoTest):
self.set_rc(1, 1700) # fly side-way for 20m
self.wait_distance(20)
self.set_rc(1, 1500)
self.wait_groundspeed(0, 0.20) # wait until the copter slows down
self.wait_groundspeed(0, slowdown_speed) # wait until the copter slows down
self.progress("## Record Point A ##")
self.set_rc(8, 1500) # pilot always have to cross mid position when changing for low to high position
self.set_rc(8, 1900) # record point B
@ -2613,23 +2614,23 @@ class AutoTestCopter(AutoTest):
self.set_rc(2, 1300)
self.wait_distance(10)
self.set_rc(2, 1500) # re-centre pitch rc control
self.wait_groundspeed(0, 0.2) # wait until the copter slows down
self.wait_groundspeed(0, slowdown_speed) # wait until the copter slows down
self.set_rc(8, 1500) # switch to mid position
self.progress("## auto execute vector BA ##")
self.set_rc(8, 1100)
self.wait_distance(17) # wait for it to finish
self.wait_groundspeed(0, 0.2) # wait until the copter slows down
self.wait_groundspeed(0, slowdown_speed) # wait until the copter slows down
self.progress("## fly forward for 10 meter ##")
self.set_rc(2, 1300) # fly forward for 10 meter
self.wait_distance(10)
self.set_rc(2, 1500) # re-centre pitch rc control
self.wait_groundspeed(0, 0.2) # wait until the copter slows down
self.wait_groundspeed(0, slowdown_speed) # wait until the copter slows down
self.set_rc(8, 1500) # switch to mid position
self.progress("## auto execute vector AB ##")
self.set_rc(8, 1900)
self.wait_distance(17) # wait for it to finish
self.wait_groundspeed(0, 0.2) # wait until the copter slows down
self.wait_groundspeed(0, slowdown_speed) # wait until the copter slows down
i=i+1
# test the case when pilot switch to manual control during the auto flight
self.start_subtest("test the case when pilot switch to manual control during the auto flight")
@ -2643,21 +2644,21 @@ class AutoTestCopter(AutoTest):
self.set_rc(8, 1100) # switch to low position, auto execute vector BA
self.wait_distance(8) # purposely switch to manual halfway
self.set_rc(8, 1500)
self.wait_groundspeed(0, 0.2) # copter should slow down here
self.wait_groundspeed(0, slowdown_speed) # copter should slow down here
self.progress("## Manual control to fly forward ##")
self.set_rc(2, 1300) # manual control to fly forward
self.wait_distance(8)
self.set_rc(2, 1500) # re-centre pitch rc control
self.wait_groundspeed(0, 0.2) # wait until the copter slows down
self.wait_groundspeed(0, slowdown_speed) # wait until the copter slows down
self.progress("## continue vector BA ##")
self.set_rc(8, 1100) # copter should continue mission here
self.wait_distance(8) # wait for it to finish rest of BA
self.wait_groundspeed(0, 0.2) #wait until the copter slows down
self.wait_groundspeed(0, slowdown_speed) #wait until the copter slows down
self.set_rc(8, 1500) # switch to mid position
self.progress("## auto execute vector AB ##")
self.set_rc(8, 1900) # switch to execute AB again
self.wait_distance(17) # wait for it to finish
self.wait_groundspeed(0, 0.2) # wait until the copter slows down
self.wait_groundspeed(0, slowdown_speed) # wait until the copter slows down
self.change_mode('LOITER')
j=j+1