From e4c405b77bf9b4b031fe2c7615bf99998820b53e Mon Sep 17 00:00:00 2001 From: Peter Barker <pbarker@barker.dropbear.id.au> Date: Thu, 22 Apr 2021 14:08:29 +1000 Subject: [PATCH] autotest: add a test for Spline missions showing terrain requirement --- .../autotest/ArduCopter_Tests/SplineTerrain/wp.txt | 6 ++++++ Tools/autotest/arducopter.py | 14 ++++++++++++++ 2 files changed, 20 insertions(+) create mode 100644 Tools/autotest/ArduCopter_Tests/SplineTerrain/wp.txt diff --git a/Tools/autotest/ArduCopter_Tests/SplineTerrain/wp.txt b/Tools/autotest/ArduCopter_Tests/SplineTerrain/wp.txt new file mode 100644 index 0000000000..ce989b3920 --- /dev/null +++ b/Tools/autotest/ArduCopter_Tests/SplineTerrain/wp.txt @@ -0,0 +1,6 @@ +QGC WPL 110 +0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.090027 1 +1 0 3 22 0.000000 0.000000 0.000000 0.000000 -35.362991 149.165192 50.000000 1 +2 0 3 82 0.000000 0.000000 0.000000 0.000000 -35.362845 149.165666 50.000000 1 +3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363214 149.165905 50.000000 1 +4 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 31a5f6e907..3097e1d743 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -2725,6 +2725,16 @@ class AutoTestCopter(AutoTest): if ex is not None: raise ex + def test_terrain_spline_mission(self): + self.set_parameter("AUTO_OPTIONS", 3) + self.set_parameter("TERRAIN_ENABLE", 0) + self.load_mission("wp.txt") + self.change_mode('AUTO') + self.wait_ready_to_arm() + self.arm_vehicle() + self.wait_waypoint(4, 4) + self.wait_disarmed() + def test_surface_tracking(self): ex = None self.context_push() @@ -6657,6 +6667,10 @@ class AutoTestCopter(AutoTest): "Test setpoint global velocity", self.test_set_velocity_global_int), + ("SplineTerrain", + "Test Splines and Terrain", + self.test_terrain_spline_mission), + ]) return ret