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Tools: autotest: add test for throw mode

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Peter Barker 2018-03-23 12:31:09 +11:00 committed by Peter Barker
parent 4db011f530
commit e045f61473
1 changed files with 25 additions and 0 deletions
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25
Tools/autotest/arducopter.py
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@ -2698,6 +2698,29 @@ class AutoTestCopter(AutoTest):
if ex is not None:
raise ex
def fly_throw_mode(self):
# test boomerang mode:
self.progress("Throwing vehicle away")
self.set_parameter("THROW_NEXTMODE", 6)
self.set_parameter("SIM_SHOVE_Z", -30)
self.set_parameter("SIM_SHOVE_X", -20)
self.change_mode('THROW')
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_parameter("SIM_SHOVE_TIME", 500)
tstart = self.get_sim_time()
self.wait_mode('RTL')
max_good_tdelta = 5
tdelta = self.get_sim_time() - tstart
self.progress("Vehicle in RTL")
self.mav.motors_disarmed_wait()
self.progress("Vehicle disarmed")
if tdelta > max_good_tdelta:
self.progress("Took too long to enter RTL: %u > %u" %
(tdelta, max_good_tdelta))
raise NotAchievedException()
self.progress("Vehicle returned")
def fly_precision_companion(self):
"""Use Companion PrecLand backend precision messages to loiter."""
@ -2850,6 +2873,8 @@ class AutoTestCopter(AutoTest):
("AutoTune", "Fly AUTOTUNE mode", self.fly_autotune),
("ThrowMode", "Fly Throw Mode", self.fly_throw_mode),
("RecordThenPlayMission",
"Use switches to toggle in mission, then fly it",
self.fly_square),