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autotest: loosen takeoff check in heli takeoff to 1m 

On the basis that random noise can make it drift 10cm
This commit is contained in:
Peter Barker 2020-10-14 08:25:24 +11:00 committed by Peter Barker
parent c40b5490f4
commit d865c8553c
1 changed files with 7 additions and 7 deletions
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14
Tools/autotest/arducopter.py
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@ -5734,14 +5734,14 @@ class AutoTestHeli(AutoTestCopter):
self.delay_sim_time(20)
# check we are still on the ground...
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
max_relalt = 100
if abs(m.relative_alt) > max_relalt:
max_relalt_mm = 1000
if abs(m.relative_alt) > max_relalt_mm:
raise NotAchievedException("Took off prematurely (abs(%f)>%f)" %
(m.relative_alt, max_relalt))
self.progress("Pushing throttle past half-way")
(m.relative_alt, max_relalt_mm))
self.progress("Pushing collective past half-way")
self.set_rc(3, 1600)
self.delay_sim_time(0.5)
self.progress("Bringing back to hover throttle")
self.progress("Bringing back to hover collective")
self.set_rc(3, 1500)
# make sure we haven't already reached alt:
@ -5763,6 +5763,8 @@ class AutoTestHeli(AutoTestCopter):
raise NotAchievedException("Failed to maintain takeoff alt")
self.progress("takeoff OK")
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))
ex = e
self.land_and_disarm()
@ -5771,8 +5773,6 @@ class AutoTestHeli(AutoTestCopter):
self.context_pop()
if ex is not None:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(ex))
raise ex
def fly_heli_stabilize_takeoff(self):