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Tools: allow FBWB alt control option in LOITER

This commit is contained in:
Iampete1 2022-05-10 07:53:10 -05:00 committed by Andrew Tridgell
parent b017fc2196
commit d5e282c5a1
1 changed files with 16 additions and 0 deletions
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16
Tools/autotest/arduplane.py
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@ -2215,6 +2215,8 @@ function'''
self.fly_home_land_and_disarm() self.fly_home_land_and_disarm()
def LOITER(self): def LOITER(self):
# first test old loiter behavour
self.set_parameter("FLIGHT_OPTIONS", 0)
self.takeoff(alt=200) self.takeoff(alt=200)
self.set_rc(3, 1500) self.set_rc(3, 1500)
self.change_mode("LOITER") self.change_mode("LOITER")
@ -2260,6 +2262,20 @@ function'''
self.progress("Centering elevator and ensuring we get back to loiter altitude") self.progress("Centering elevator and ensuring we get back to loiter altitude")
self.set_rc(2, 1500) self.set_rc(2, 1500)
self.wait_altitude(initial_alt-1, initial_alt+1) self.wait_altitude(initial_alt-1, initial_alt+1)
# Test new loiter behavour
self.set_parameter("FLIGHT_OPTIONS", 1 << 12)
# should decend at max stick
self.set_rc(2, int(rc2_max))
self.wait_altitude(initial_alt - 110, initial_alt - 90, timeout=90)
# should not climb back at mid stick
self.set_rc(2, 1500)
self.delay_sim_time(60)
self.wait_altitude(initial_alt - 110, initial_alt - 90)
# should climb at min stick
self.set_rc(2, 1100)
self.wait_altitude(initial_alt - 10, initial_alt + 10, timeout=90)
# return stick to center and fly home
self.set_rc(2, 1500)
self.fly_home_land_and_disarm() self.fly_home_land_and_disarm()
def CPUFailsafe(self): def CPUFailsafe(self):