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autotest: rewrite speedtofly test using wait_airspeed

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Peter Barker 2022-07-05 13:29:25 +10:00 committed by Peter Barker
parent 565f757f35
commit e77d0ce1a4
1 changed files with 36 additions and 38 deletions
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74
Tools/autotest/arduplane.py
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@ -2458,59 +2458,57 @@ function'''
# Enable soaring (no automatic thermalling) # Enable soaring (no automatic thermalling)
self.set_rc(rc_chan, 1500) self.set_rc(rc_chan, 1500)
# Enable speed to fly. self.set_parameters({
self.set_parameter("SOAR_CRSE_ARSPD", -1) "SOAR_CRSE_ARSPD": -1, # Enable speed to fly.
"SOAR_VSPEED": 1, # Set appropriate McCready.
"SIM_WIND_SPD": 0,
})
# Set appropriate McCready. self.progress('Waiting a few seconds before determining the "trim" airspeed.')
self.set_parameter("SOAR_VSPEED", 1)
self.set_parameter("SIM_WIND_SPD", 0)
# Wait a few seconds before determining the "trim" airspeed.
self.delay_sim_time(20) self.delay_sim_time(20)
m = self.mav.recv_match(type='VFR_HUD', blocking=True) m = self.mav.recv_match(type='VFR_HUD', blocking=True)
trim_airspeed = m.airspeed trim_airspeed = m.airspeed
self.progress("Using trim_airspeed=%f" % (trim_airspeed,))
min_airspeed = self.get_parameter("ARSPD_FBW_MIN") min_airspeed = self.get_parameter("ARSPD_FBW_MIN")
max_airspeed = self.get_parameter("ARSPD_FBW_MAX") max_airspeed = self.get_parameter("ARSPD_FBW_MAX")
# Add updraft if trim_airspeed > max_airspeed:
self.set_parameter("SIM_WIND_SPD", 1) raise NotAchievedException("trim airspeed > max_airspeed (%f>%f)" %
self.set_parameter('SIM_WIND_DIR_Z', 90) (trim_airspeed, max_airspeed))
self.delay_sim_time(20) if trim_airspeed < min_airspeed:
m = self.mav.recv_match(type='VFR_HUD', blocking=True) raise NotAchievedException("trim airspeed < min_airspeed (%f<%f)" %
(trim_airspeed, min_airspeed))
if not m.airspeed < trim_airspeed and trim_airspeed > min_airspeed: self.progress("Adding updraft")
raise NotAchievedException("Airspeed did not reduce in updraft") self.set_parameters({
"SIM_WIND_SPD": 1,
'SIM_WIND_DIR_Z': 90,
})
self.progress("Waiting for vehicle to move slower in updraft")
self.wait_airspeed(0, trim_airspeed-0.5, minimum_duration=10, timeout=120)
# Add downdraft self.progress("Adding downdraft")
self.set_parameter('SIM_WIND_DIR_Z', -90) self.set_parameter('SIM_WIND_DIR_Z', -90)
self.delay_sim_time(20) self.progress("Waiting for vehicle to move faster in downdraft")
m = self.mav.recv_match(type='VFR_HUD', blocking=True) self.wait_airspeed(trim_airspeed+0.5, trim_airspeed+100, minimum_duration=10, timeout=120)
if not m.airspeed > trim_airspeed and trim_airspeed < max_airspeed: self.progress("Zeroing wind and increasing McCready")
raise NotAchievedException("Airspeed did not increase in downdraft") self.set_parameters({
"SIM_WIND_SPD": 0,
"SOAR_VSPEED": 2,
})
self.progress("Waiting for airspeed to increase with higher VSPEED")
self.wait_airspeed(trim_airspeed+0.5, trim_airspeed+100, minimum_duration=10, timeout=120)
# Zero the wind and increase McCready. self.progress("Reducing McCready")
self.set_parameter("SIM_WIND_SPD", 0)
self.set_parameter("SOAR_VSPEED", 2)
self.delay_sim_time(20)
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
if not m.airspeed > trim_airspeed and trim_airspeed < max_airspeed:
raise NotAchievedException("Airspeed did not increase with higher SOAR_VSPEED")
# Reduce McCready.
self.set_parameter("SOAR_VSPEED", 0) self.set_parameter("SOAR_VSPEED", 0)
self.delay_sim_time(20) self.progress("Waiting for airspeed to decrease with lower VSPEED")
m = self.mav.recv_match(type='VFR_HUD', blocking=True) self.wait_airspeed(0, trim_airspeed-0.5, minimum_duration=10, timeout=120)
if not m.airspeed < trim_airspeed and trim_airspeed > min_airspeed: # takes too long to land, so just make it all go away:
raise NotAchievedException("Airspeed did not reduce with lower SOAR_VSPEED") self.disarm_vehicle(force=True)
self.reboot_sitl()
# Disarm
self.disarm_vehicle_expect_fail()
self.progress("Mission OK")
def test_airspeed_drivers(self): def test_airspeed_drivers(self):
airspeed_sensors = [ airspeed_sensors = [