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autotest: Update soaring test to use RCX_OPTION.

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This commit is contained in:
Samuel Tabor 2020-07-13 14:10:19 +01:00 committed by Andrew Tridgell
parent 419f7c9998
commit d57b7cad63
2 changed files with 14 additions and 3 deletions
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14
Tools/autotest/arduplane.py
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@ -1651,7 +1651,8 @@ class AutoTestPlane(AutoTest):
self.customise_SITL_commandline([],
model=model,
defaults_filepath=self.model_defaults_filepath("ArduPlane",model))
defaults_filepath=self.model_defaults_filepath("ArduPlane",model),
wipe=True)
self.load_mission('CMAC-soar.txt')
@ -1662,7 +1663,16 @@ class AutoTestPlane(AutoTest):
self.arm_vehicle()
# Enable thermalling RC
rc_chan = self.get_parameter('SOAR_ENABLE_CH')
rc_chan = 0
for i in range(8):
rcx_option = self.get_parameter('RC{0}_OPTION'.format(i+1))
if rcx_option==88:
rc_chan = i+1;
break
if rc_chan==0:
raise NotAchievedException("Did not find soaring enable channel option.")
self.send_set_rc(rc_chan, 1900)
# Wait to detect thermal

3
Tools/autotest/default_params/plane-soaring.parm
View File

@ -4,6 +4,8 @@ ARSPD_FBW_MIN 6
PTCH2SRV_I 0.200000
PTCH2SRV_IMAX 4000.000000
RC7_OPTION 88
SIM_THML_SCENARI 1
SOAR_ALT_CUTOFF 150.000000
@ -11,7 +13,6 @@ SOAR_ALT_MAX 350.000000
SOAR_ALT_MIN 50.000000
SOAR_DIST_AHEAD 5.000000
SOAR_ENABLE 1.000000
SOAR_ENABLE_CH 7.000000
SOAR_MIN_CRSE_S 10.000000
SOAR_MIN_THML_S 20.000000
SOAR_POLAR_B 0.045000