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autotest: add tests against bad vel/accels in copter guided

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Peter Barker 2023-05-24 13:41:36 +10:00 committed by Randy Mackay
parent aa5a882de8
commit d4dabeb6fc
2 changed files with 73 additions and 0 deletions
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1
Tools/autotest/arducopter.py
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@ -9653,6 +9653,7 @@ class AutoTestCopter(AutoTest):
self.SetpointGlobalPos,
self.ThrowDoubleDrop,
self.SetpointGlobalVel,
self.SetpointBadVel,
self.SplineTerrain,
self.TakeoffCheck,
])

72
Tools/autotest/common.py
View File

@ -10609,6 +10609,78 @@ Also, ignores heartbeats not from our target system'''
self.do_RTL(distance_min=0, distance_max=wp_accuracy)
self.disarm_vehicle()
def SetpointBadVel(self, timeout=30):
'''try feeding in a very, very bad velocity and make sure it is ignored'''
self.takeoff(mode='GUIDED')
# following values from a real log:
target_speed = Vector3(-3.6019095525029597e+30,
1.7796490496925177e-41,
3.0557017120313744e-26)
self.progress("Feeding in bad global data, hoping we don't move")
def send_speed_vector_global_int(vector , mav_frame):
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
self.sysid_thismav(), # target system_id
1, # target component id
mav_frame,
MAV_POS_TARGET_TYPE_MASK.POS_IGNORE |
MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
0,
0,
0,
vector.x, # vx
vector.y, # vy
vector.z, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
self.wait_speed_vector(
Vector3(0, 0, 0),
timeout=timeout,
called_function=lambda plop, empty: send_speed_vector_global_int(target_speed, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT), # noqa
minimum_duration=10
)
self.progress("Feeding in bad local data, hoping we don't move")
def send_speed_vector_local_ned(vector , mav_frame):
self.mav.mav.set_position_target_local_ned_send(
0, # timestamp
self.sysid_thismav(), # target system_id
1, # target component id
mav_frame,
MAV_POS_TARGET_TYPE_MASK.POS_IGNORE |
MAV_POS_TARGET_TYPE_MASK.ACC_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_IGNORE |
MAV_POS_TARGET_TYPE_MASK.YAW_RATE_IGNORE,
0,
0,
0,
vector.x, # vx
vector.y, # vy
vector.z, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
self.wait_speed_vector(
Vector3(0, 0, 0),
timeout=timeout,
called_function=lambda plop, empty: send_speed_vector_local_ned(target_speed, mavutil.mavlink.MAV_FRAME_LOCAL_NED), # noqa
minimum_duration=10
)
self.do_RTL()
def SetpointGlobalVel(self, timeout=30):
"""Test set position message in guided mode."""
# Disable heading and yaw rate test on rover type