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autotest: add a test for Spline missions showing terrain requirement

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This commit is contained in:
Peter Barker 2021-04-22 14:08:29 +10:00 committed by Peter Barker
parent b5ebf9022c
commit e4c405b77b
2 changed files with 20 additions and 0 deletions
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6
Tools/autotest/ArduCopter_Tests/SplineTerrain/wp.txt Normal file
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@ -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

14
Tools/autotest/arducopter.py
View File

@ -2725,6 +2725,16 @@ class AutoTestCopter(AutoTest):
if ex is not None: if ex is not None:
raise ex 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): def test_surface_tracking(self):
ex = None ex = None
self.context_push() self.context_push()
@ -6657,6 +6667,10 @@ class AutoTestCopter(AutoTest):
"Test setpoint global velocity", "Test setpoint global velocity",
self.test_set_velocity_global_int), self.test_set_velocity_global_int),
("SplineTerrain",
"Test Splines and Terrain",
self.test_terrain_spline_mission),
]) ])
return ret return ret