Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

autotest: correct FenceFloorEnabledLanding test

This commit is contained in:
Andy Piper 2024-08-16 11:07:45 +01:00 committed by Peter Barker
parent d3a1d515cb
commit dcc0be5031
1 changed files with 6 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
Tools/autotest/arducopter.py
View File

@ -1789,7 +1789,6 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.user_takeoff(alt_min=25)
# Check fence is enabled
self.do_fence_enable()
self.assert_fence_enabled()
# Change to RC controlled mode
@ -1810,11 +1809,14 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
# lower throttle and try and land
self.set_rc(3, 1300)
self.wait_altitude(0, 2, relative=True)
self.wait_disarmed()
self.zero_throttle()
self.wait_landed_and_disarmed()
self.assert_fence_enabled()
# must not be in RTL
self.assert_mode("LOITER")
# Assert fence is not healthy since it was enabled manually
self.assert_sensor_state(fence_bit, healthy=False)
# Assert fence is healthy since it was enabled automatically
self.assert_sensor_state(fence_bit, healthy=True)
# Disable the fence using mavlink command to ensure cleaned up SITL state
self.do_fence_disable()