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autotest: fix DO_CHANGE_SPEED test

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we could arrive back at our home location and stop before enough time passed to satisfy the test.  i.e. doing exactly the same steps out and back again without allowing for differences in timing leads to random failure
This commit is contained in:
Peter Barker 2023-09-21 07:56:26 +10:00 committed by Peter Barker
parent 89bd6ab218
commit d946877fd4
1 changed files with 7 additions and 3 deletions
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10
Tools/autotest/arducopter.py
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@ -10191,14 +10191,18 @@ class AutoTestCopter(AutoTest):
'''test Copter DO_CHANGE_SPEED handling in guided mode'''
self.takeoff(20, mode='GUIDED')
loc = self.mav.location()
new_loc = self.mav.location()
new_loc_offset_n = 2000
new_loc_offset_e = 0
self.location_offset_ne(new_loc, new_loc_offset_n, new_loc_offset_e)
second_loc_offset_n = -1000
second_loc_offset_e = 0
second_loc = self.mav.location()
self.location_offset_ne(second_loc, second_loc_offset_n, second_loc_offset_e)
# for run_cmd we fly away from home
for (tloc, command) in (new_loc, self.run_cmd), (loc, self.run_cmd_int):
for (tloc, command) in (new_loc, self.run_cmd), (second_loc, self.run_cmd_int):
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_DO_REPOSITION,
p1=-1, # "default"
@ -10218,7 +10222,7 @@ class AutoTestCopter(AutoTest):
p3=-1, # throttle, -1 is no-change
p4=0, # absolute value, not relative
)
self.wait_groundspeed(speed-0.2, speed+0.2, minimum_duration=2)
self.wait_groundspeed(speed-0.2, speed+0.2, minimum_duration=10, timeout=20)
# we've made random changes to vehicle guided speeds above;
# reboot vehicle to reset those: