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autotest: added GliderPullup test

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This commit is contained in:
Andrew Tridgell 2024-09-03 07:37:50 +10:00
parent 2f19dfef8a
commit d27d34987c
2 changed files with 41 additions and 0 deletions
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3
Tools/autotest/ArduPlane_Tests/GliderPullup/glider-pullup-mission.txt Normal file
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@ -0,0 +1,3 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.000000 1
1 0 0 83 2000.000000 10.000000 30.000000 0.000000 0.000000 0.000000 0.000000 1

38
Tools/autotest/arduplane.py
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@ -6114,6 +6114,43 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self._MAV_CMD_EXTERNAL_WIND_ESTIMATE(self.run_cmd) self._MAV_CMD_EXTERNAL_WIND_ESTIMATE(self.run_cmd)
self._MAV_CMD_EXTERNAL_WIND_ESTIMATE(self.run_cmd_int) self._MAV_CMD_EXTERNAL_WIND_ESTIMATE(self.run_cmd_int)
def GliderPullup(self):
'''test pullup of glider after ALTITUDE_WAIT'''
self.start_subtest("test glider pullup")
self.customise_SITL_commandline(
[],
model="glider",
defaults_filepath="Tools/autotest/default_params/glider.parm",
wipe=True)
self.set_parameters({
"PUP_ENABLE": 1,
"SERVO6_FUNCTION": 0, # balloon lift
"SERVO10_FUNCTION": 156, # lift release
"EK3_IMU_MASK": 1, # lane switches just make log harder to read
})
self.set_servo(6, 1000)
self.load_mission("glider-pullup-mission.txt")
self.change_mode("AUTO")
self.wait_ready_to_arm()
self.arm_vehicle()
self.context_collect('STATUSTEXT')
self.progress("Start balloon lift")
self.set_servo(6, 2000)
self.wait_text("Reached altitude", check_context=True, timeout=300)
self.wait_text("Start pullup airspeed", check_context=True)
self.wait_text("Pullup airspeed", check_context=True)
self.wait_text("Pullup pitch", check_context=True)
self.wait_text("Pullup level", check_context=True)
self.wait_text("Mission complete, changing mode to RTL", check_context=True)
self.fly_home_land_and_disarm(timeout=400)
def tests(self): def tests(self):
'''return list of all tests''' '''return list of all tests'''
ret = super(AutoTestPlane, self).tests() ret = super(AutoTestPlane, self).tests()
@ -6246,6 +6283,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.SetHomeAltChange, self.SetHomeAltChange,
self.ForceArm, self.ForceArm,
self.MAV_CMD_EXTERNAL_WIND_ESTIMATE, self.MAV_CMD_EXTERNAL_WIND_ESTIMATE,
self.GliderPullup,
]) ])
return ret return ret