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autotest: fix fence autotests

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add Plane.FenceMinAltEnableAutoland
test that vehicle can be landed manually after descending below fence floor
This commit is contained in:
Andy Piper 2024-05-31 17:12:10 +01:00 committed by Peter Barker
parent f8304e12d1
commit e30dc2c536
3 changed files with 70 additions and 18 deletions
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28
Tools/autotest/arducopter.py
View File

@ -1454,7 +1454,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.wait_altitude(10, 100, relative=True)
self.set_rc(3, 1500)
self.set_rc(2, 1400)
self.wait_distance_to_home(12, 20)
self.wait_distance_to_home(12, 20, timeout=30)
tstart = self.get_sim_time()
push_time = 70 # push against barrier for 60 seconds
failed_max = False
@ -1513,7 +1513,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.load_fence("fence-in-middle-of-nowhere.txt")
self.delay_sim_time(5) # let fence check run so it loads-from-eeprom
self.assert_prearm_failure("vehicle outside fence")
self.assert_prearm_failure("vehicle outside Polygon fence")
self.progress("Failed to arm outside fence (good!)")
self.clear_fence()
self.delay_sim_time(5) # let fence breach clear
@ -1523,7 +1523,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.start_subtest("ensure we can't arm with bad radius")
self.context_push()
self.set_parameter("FENCE_RADIUS", -1)
self.assert_prearm_failure("Invalid FENCE_RADIUS value")
self.assert_prearm_failure("Invalid Circle FENCE_RADIUS value")
self.context_pop()
self.progress("Failed to arm with bad radius")
self.drain_mav()
@ -1741,14 +1741,14 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
"AVOID_ENABLE": 0,
"FENCE_ENABLE" : 1,
"FENCE_TYPE": 15,
"FENCE_ALT_MIN": 10,
"FENCE_ALT_MAX": 20,
"FENCE_ALT_MIN": 20,
"FENCE_ALT_MAX": 30,
})
self.change_mode("GUIDED")
self.wait_ready_to_arm()
self.arm_vehicle()
self.user_takeoff(alt_min=15)
self.user_takeoff(alt_min=25)
# Check fence is enabled
self.do_fence_enable()
@ -1760,8 +1760,19 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.set_rc(3, 1800)
self.wait_mode('RTL', timeout=120)
# center throttle
self.set_rc(3, 1500)
self.wait_landed_and_disarmed()
# wait until we are below the fence floor and re-enter loiter
self.wait_altitude(5, 15, relative=True)
self.change_mode('LOITER')
# wait for manual recovery to expire
self.delay_sim_time(15)
# lower throttle and try and land
self.set_rc(3, 1300)
self.wait_altitude(0, 2, relative=True)
self.wait_disarmed()
self.assert_fence_enabled()
# Assert fence is not healthy since it was enabled manually
@ -1799,8 +1810,6 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.set_rc(3, 1800)
self.wait_mode('RTL', timeout=120)
# Assert fence is not healthy now that we are in RTL
self.assert_sensor_state(fence_bit, healthy=False)
self.wait_landed_and_disarmed(0)
# the breach should have cleared since we auto-disable the
@ -12005,7 +12014,6 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
def disabled_tests(self):
return {
"Parachute": "See https://github.com/ArduPilot/ardupilot/issues/4702",
"HorizontalAvoidFence": "See https://github.com/ArduPilot/ardupilot/issues/11525",
"AltEstimation": "See https://github.com/ArduPilot/ardupilot/issues/15191",
"GroundEffectCompensation_takeOffExpected": "Flapping",
"GroundEffectCompensation_touchDownExpected": "Flapping",

50
Tools/autotest/arduplane.py
View File

@ -1601,7 +1601,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.delay_sim_time(2) # Allow breach to propagate
self.assert_fence_enabled()
self.try_arm(False, "vehicle outside fence")
self.try_arm(False, "vehicle outside Min Alt fence")
self.do_fence_disable()
self.set_parameter("FENCE_ALT_MIN", default_fence_alt_min)
@ -1620,7 +1620,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.do_fence_enable()
self.assert_fence_enabled()
self.delay_sim_time(2) # Allow breach to propagate
self.try_arm(False, "vehicle outside fence")
self.try_arm(False, "vehicle outside Polygon fence")
self.do_fence_disable()
self.clear_fence()
@ -1640,7 +1640,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.do_fence_enable()
self.assert_fence_enabled()
self.delay_sim_time(2) # Allow breach to propagate
self.try_arm(False, "vehicle outside fence")
self.try_arm(False, "vehicle outside Polygon fence")
self.do_fence_disable()
self.clear_fence()
@ -3742,6 +3742,49 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.set_current_waypoint(0, check_afterwards=False)
self.set_rc(3, 1000) # lower throttle
def FenceMinAltEnableAutoland(self):
'''Tests autolanding when alt min fence is enabled'''
self.set_parameters({
"FENCE_TYPE": 12, # Set fence type to min alt and max alt
"FENCE_ACTION": 1, # Set action to RTL
"FENCE_ALT_MIN": 20,
"FENCE_AUTOENABLE": 0,
"FENCE_ENABLE" : 1,
"RTL_AUTOLAND" : 2,
})
# Grab Home Position
self.mav.recv_match(type='HOME_POSITION', blocking=True)
self.homeloc = self.mav.location()
self.wait_ready_to_arm()
self.arm_vehicle()
self.takeoff(alt=50, mode='TAKEOFF')
self.change_mode("FBWA")
self.set_rc(3, 1100) # lower throttle
self.progress("Waiting for RTL")
tstart = self.get_sim_time()
mode = "RTL"
while not self.mode_is(mode, drain_mav=False):
self.mav.messages['HEARTBEAT'].custom_mode
self.progress("mav.flightmode=%s Want=%s Alt=%f" % (
self.mav.flightmode, mode, self.get_altitude(relative=True)))
if (self.get_sim_time_cached() > tstart + 120):
raise WaitModeTimeout("Did not change mode")
self.progress("Got mode %s" % mode)
# switch to FBWA
self.change_mode("FBWA")
self.set_rc(3, 1500) # raise throttle
self.wait_altitude(25, 35, timeout=50, relative=True)
self.set_rc(3, 1000) # lower throttle
# Now check we can land
self.fly_home_land_and_disarm()
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL)
self.set_current_waypoint(0, check_afterwards=False)
self.set_rc(3, 1000) # lower throttle
def FenceMinAltAutoEnableAbort(self):
'''Tests autoenablement of the alt min fence and fences on arming'''
self.set_parameters({
@ -5776,6 +5819,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.FenceRetRally,
self.FenceAltCeilFloor,
self.FenceMinAltAutoEnable,
self.FenceMinAltEnableAutoland,
self.FenceMinAltAutoEnableAbort,
self.FenceAutoEnableDisableSwitch,
self.FenceEnableDisableSwitch,

10
Tools/autotest/rover.py
View File

@ -6881,10 +6881,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
]),
])
self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False)
self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False)
self.reboot_sitl()
self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False, timeout=120)
self.progress("Ensure we can arm when a polyfence fence is cleared when we've previously been in breach")
self.clear_fence()
@ -6900,7 +6900,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
]),
])
self.reboot_sitl()
self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False, timeout=120)
self.clear_fence()
self.wait_ready_to_arm()
@ -6914,11 +6914,11 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.offset_location_ne(here, 50, 20), # tl,
]),
])
self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False, timeout=120)
self.set_parameter('FENCE_TYPE', 2)
self.wait_ready_to_arm()
self.set_parameter('FENCE_TYPE', 6)
self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False, timeout=120)
def OpticalFlow(self):
'''lightly test OpticalFlow'''