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autotest: add test for DO_CHANGE_ALTITUDE

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Peter Barker 2022-01-29 22:58:42 +11:00 committed by Andrew Tridgell
parent b7df2bce5f
commit d086b5e9fc
1 changed files with 29 additions and 2 deletions
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31
Tools/autotest/arduplane.py
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@ -2064,10 +2064,37 @@ function'''
if m.type != mavutil.mavlink.MAV_MISSION_ACCEPTED:
raise NotAchievedException("Did not get accepted response")
self.wait_location(loc, accuracy=100) # based on loiter radius
self.delay_sim_time(20)
self.wait_altitude(altitude_min=desired_relative_alt-3,
altitude_max=desired_relative_alt+3,
relative=True)
relative=True,
timeout=30)
self.start_subtest("changing alt with mission item in guided mode")
# test changing alt only - NOTE - this is still a
# NAV_WAYPOINT, not a changel-alt request!
desired_relative_alt = desired_relative_alt + 50
self.mav.mav.mission_item_int_send(
target_system,
target_component,
0, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
3, # current - change-alt request
0, # autocontinue
0, # p1
0, # p2
0, # p3
0, # p4
0, # latitude
0,
desired_relative_alt, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
self.wait_altitude(altitude_min=desired_relative_alt-3,
altitude_max=desired_relative_alt+3,
relative=True,
timeout=30)
self.fly_home_land_and_disarm()