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Tools: autotest: add test for QuadPlane QAutoTune

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Peter Barker 2019-01-18 11:58:18 +11:00 committed by Peter Barker
parent 19d8ffb4e4
commit d9d9745c11
2 changed files with 34 additions and 0 deletions
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1
Tools/autotest/autotest.py
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@ -302,6 +302,7 @@ def run_specific_test(step, *args, **kwargs):
tester_class_map = {
"fly.ArduCopter": arducopter.AutoTestCopter,
"fly.ArduPlane": arduplane.AutoTestPlane,
"fly.QuadPlane": quadplane.AutoTestQuadPlane,
"drive.APMrover2": apmrover2.AutoTestRover,
"drive.BalanceBot": balancebot.AutoTestBalanceBot,
"fly.CopterAVC": arducopter.AutoTestHeli,

33
Tools/autotest/quadplane.py
View File

@ -133,6 +133,37 @@ class AutoTestQuadPlane(AutoTest):
self.mav.motors_disarmed_wait()
self.progress("Mission OK")
def fly_qautotune(self):
self.change_mode("QHOVER")
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(3, 1800)
self.wait_altitude(30,
40,
relative=True,
timeout=30)
self.set_rc(3, 1500)
self.change_mode("QAUTOTUNE")
tstart = self.get_sim_time()
sim_time_expected = 5000
deadline = tstart + sim_time_expected
while self.get_sim_time_cached() < deadline:
now = self.get_sim_time_cached()
m = self.mav.recv_match(type='STATUSTEXT',
blocking=True,
timeout=1)
if m is None:
continue
self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text))
if "AutoTune: Success" in m.text:
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
# near enough for now:
self.change_mode("QLAND")
self.mavproxy.expect("AutoTune: Saved gains for Roll Pitch Yaw")
self.mav.motors_disarmed_wait()
return
self.mav.motors_disarmed_wait()
def default_mode(self):
return "FBWA"
@ -146,6 +177,8 @@ class AutoTestQuadPlane(AutoTest):
ret.extend([
("ArmFeatures", "Arm features", self.test_arm_feature),
("QAutoTune", "Fly QAUTOTUNE mode", self.fly_qautotune),
("Mission", "Dalby Mission",
lambda: self.fly_mission(m, f))
])