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Tools: plane: test gcs failsafe: FBWA and Parachute

This commit is contained in:
Shashwat Ganesh 2023-02-25 23:55:07 +05:30 committed by Peter Barker
parent ea206670c4
commit dba76d2c8b
2 changed files with 37 additions and 1 deletions
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5
Tools/autotest/ArduPlane_Tests/GCSFailsafe/plane-parachute-mission.txt Normal file
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@ -0,0 +1,5 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.362045 149.165878 584.280029 1
1 0 3 22 0.000000 0.000000 0.000000 0.000000 -35.362125 149.165039 10.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364845 149.163452 11.000000 1
3 0 0 208 2.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1

33
Tools/autotest/arduplane.py
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@ -1178,9 +1178,40 @@ class AutoTestPlane(AutoTest):
self.delay_sim_time(5) self.delay_sim_time(5)
self.wait_mode("RTL") self.wait_mode("RTL")
self.set_heartbeat_rate(self.speedup) self.set_heartbeat_rate(self.speedup)
self.fly_home_land_and_disarm()
self.end_subtest("Completed RTL Failsafe test") self.end_subtest("Completed RTL Failsafe test")
self.start_subtest("Test Failsafe: FBWA Glide")
self.set_parameter("RTL_AUTOLAND", 1)
self.change_mode("AUTO")
self.takeoff()
self.set_parameter("FS_GCS_ENABL", 1)
self.set_parameter("FS_LONG_ACTN", 2)
self.progress("Disconnecting GCS")
self.set_heartbeat_rate(0)
self.delay_sim_time(5)
self.wait_mode("FBWA")
self.set_heartbeat_rate(self.speedup)
self.end_subtest("Completed FBWA Failsafe test")
self.start_subtest("Test Failsafe: Deploy Parachute")
self.load_mission("plane-parachute-mission.txt")
self.set_current_waypoint(1)
self.set_parameters({
"CHUTE_ENABLED": 1,
"CHUTE_TYPE": 10,
"SERVO9_FUNCTION": 27,
"SIM_PARA_ENABLE": 1,
"SIM_PARA_PIN": 9,
})
self.change_mode("AUTO")
self.set_parameter("FS_LONG_ACTN", 3)
self.progress("Disconnecting GCS")
self.set_heartbeat_rate(0)
self.wait_statustext("BANG", timeout=60)
self.set_heartbeat_rate(self.speedup)
self.disarm_vehicle(force=True)
self.reboot_sitl()
self.end_subtest("Completed Parachute Failsafe test")
def TestGripperMission(self): def TestGripperMission(self):
'''Test Gripper mission items''' '''Test Gripper mission items'''