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Tools: autotest: add autotest for sink-rate triggering

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Peter Barker 2019-04-26 10:57:19 +10:00 committed by Peter Barker
parent 4881d32b18
commit d05a4a04c5
1 changed files with 28 additions and 5 deletions
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33
Tools/autotest/arduplane.py
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@ -56,8 +56,11 @@ class AutoTestPlane(AutoTest):
def set_autodisarm_delay(self, delay):
self.set_parameter("LAND_DISARMDELAY", delay)
def takeoff(self):
"""Takeoff get to 30m altitude."""
def takeoff(self, alt=150, alt_max=None, relative=True):
"""Takeoff to altitude."""
if alt_max is None:
alt_max = alt + 30
self.mavproxy.send('switch 4\n')
self.wait_mode('FBWA')
@ -85,9 +88,7 @@ class AutoTestPlane(AutoTest):
self.set_rc(3, 2000)
# gain a bit of altitude
self.wait_altitude(self.homeloc.alt+150,
self.homeloc.alt+180,
timeout=30)
self.wait_altitude(alt, alt_max, timeout=30, relative=relative)
# level off
self.set_rc(2, 1500)
@ -774,6 +775,26 @@ class AutoTestPlane(AutoTest):
self.disarm_vehicle(force=True)
self.reboot_sitl()
def test_parachute_sinkrate(self):
self.set_rc(9, 1000)
self.set_parameter("CHUTE_ENABLED", 1)
self.set_parameter("CHUTE_TYPE", 10)
self.set_parameter("SERVO9_FUNCTION", 27)
self.set_parameter("SIM_PARA_ENABLE", 1)
self.set_parameter("SIM_PARA_PIN", 9)
self.set_parameter("CHUTE_CRT_SINK", 9)
self.progress("Takeoff")
self.takeoff(alt=300)
self.progress("Diving")
self.set_rc(2, 2000)
self.mavproxy.expect("BANG")
self.disarm_vehicle(force=True)
self.reboot_sitl()
def run_subtest(self, desc, func):
self.start_subtest(desc)
func()
@ -926,6 +947,8 @@ class AutoTestPlane(AutoTest):
("Parachute", "Test Parachute", self.test_parachute),
("ParachuteSinkRate", "Test Parachute (SinkRate triggering)", self.test_parachute_sinkrate),
("AIRSPEED_AUTOCAL", "Test AIRSPEED_AUTOCAL", self.airspeed_autocal),
("RangeFinder",