Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Tools: Copter.OpticalFlowLimits checks altitude

Browse Source
This commit is contained in:
Randy Mackay 2020-12-09 10:15:01 +09:00
parent 0ba696f761
commit d2bdc949b2
1 changed files with 11 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
Tools/autotest/arducopter.py
View File

@ -1789,6 +1789,7 @@ class AutoTestCopter(AutoTest):
tstart = self.get_sim_time()
timeout = 60
started_climb = False
while self.get_sim_time_cached() - tstart < timeout:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
spd = math.sqrt(m.vx**2 + m.vy**2) * 0.01
@ -1805,16 +1806,23 @@ class AutoTestCopter(AutoTest):
raise NotAchievedException(("Speed should be limited by"
"EKF optical flow limits"))
self.progress("Moving higher")
self.change_alt(60)
# after 30 seconds start climbing
if not started_climb and self.get_sim_time_cached() - tstart > 30:
started_climb = True
self.set_rc(3, 1900)
self.progress("Moving higher")
# check altitude is not climbing above 35m
if alt > 35:
raise NotAchievedException("Alt should be limited by EKF optical flow limits")
self.wait_groundspeed(10, 100, timeout=60)
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))
ex = e
self.set_rc(2, 1500)
self.set_rc(3, 1500)
self.context_pop()
self.disarm_vehicle(force=True)
self.reboot_sitl()