From dbc63f7b0dace7da2cccfefde2362ccdce71a4d4 Mon Sep 17 00:00:00 2001 From: Samuel Tabor Date: Sun, 30 Jan 2022 19:51:39 +0000 Subject: [PATCH] autotest: Improve Landing-Drift --- Tools/autotest/arduplane.py | 18 +++++++++++++++++- 1 file changed, 17 insertions(+), 1 deletion(-) diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index 60ffd61872..78a896fe58 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -3318,7 +3318,23 @@ function''' self.wait_ready_to_arm() self.arm_vehicle() - self.fly_mission("ap-circuit.txt", mission_timeout=1200) + # Load and start mission + self.load_mission("ap-circuit.txt", strict=True) + self.set_current_waypoint(1, check_afterwards=True) + self.change_mode('AUTO') + self.wait_current_waypoint(1, timeout=5) + self.wait_groundspeed(0, 10, timeout=5) + + # Wait for landing waypoint + self.wait_current_waypoint(9, timeout=1200) + + # Wait for landing restart + self.wait_current_waypoint(5, timeout=60) + + # Wait for landing waypoint (second attempt) + self.wait_current_waypoint(9, timeout=1200) + + self.wait_statustext("Auto disarmed", timeout=120) def DCMFallback(self): self.reboot_sitl()