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Tools: autotest: plane: test allow mode change after fence breach option

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Iampete1 2022-08-12 21:04:46 +01:00 committed by Andrew Tridgell
parent 2b0492e6aa
commit e7cbf266b3
1 changed files with 26 additions and 5 deletions
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31
Tools/autotest/arduplane.py
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@ -19,6 +19,7 @@ from common import AutoTest
from common import AutoTestTimeoutException
from common import NotAchievedException
from common import PreconditionFailedException
from common import WaitModeTimeout
from pymavlink.rotmat import Vector3
from pysim import vehicleinfo
@ -3111,7 +3112,7 @@ function'''
def test_fence_breached_change_mode(self):
""" Attempts to change mode while a fence is breached.
This should revert to the mode specified by the fence action. """
mode should change should fail if fence option bit is set"""
self.set_parameters({
"FENCE_ACTION": 1,
"FENCE_TYPE": 4,
@ -3133,7 +3134,7 @@ function'''
self.wait_ready_to_arm()
self.takeoff(alt=50)
self.change_mode("CRUISE")
self.wait_distance(90, accuracy=15)
self.wait_distance(250, accuracy=15)
self.progress("Enable fence and initiate fence action")
self.do_fence_enable()
@ -3141,8 +3142,28 @@ function'''
self.wait_mode("RTL") # We should RTL because of fence breach
self.progress("User mode change to cruise should retrigger fence action")
self.change_mode("CRUISE")
self.wait_mode("RTL", timeout=5)
try:
# mode change should time out, 'WaitModeTimeout' exception is the desired resut
# cant wait too long or the vehicle will be inside fence and allow the mode change
self.change_mode("CRUISE", timeout=10)
raise NotAchievedException("Should not change mode in fence breach")
except WaitModeTimeout:
pass
except Exception as e:
raise e
# enable mode change
self.set_parameter("FENCE_OPTIONS", 0)
self.progress("Check user mode change to LOITER is allowed")
self.change_mode("LOITER")
# Fly for 20 seconds and make sure still in LOITER mode
self.delay_sim_time(20)
if not self.mode_is("LOITER"):
raise NotAchievedException("Fence should not re-trigger")
# reset options parameter
self.set_parameter("FENCE_OPTIONS", 1)
self.progress("Test complete, disable fence and come home")
self.do_fence_disable()
@ -3899,7 +3920,7 @@ function'''
self.test_fence_alt_ceil_floor),
("FenceBreachedChangeMode",
"Tests retrigger of fence action when changing of mode while fence is breached",
"Tests manual mode change after fence breach, as set with FENCE_OPTIONS",
self.test_fence_breached_change_mode),
("FenceNoFenceReturnPoint",