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Tools: plane: test gcs failsafe: RTL

This commit is contained in:
Shashwat Ganesh 2023-02-25 23:52:41 +05:30 committed by Peter Barker
parent a0634d8b5b
commit ea206670c4
2 changed files with 32 additions and 0 deletions
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13
Tools/autotest/ArduPlane_Tests/GCSFailsafe/flaps.txt Normal file
View File

@ -0,0 +1,13 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.390015 1
1 0 3 22 15.000000 0.000000 0.000000 0.000000 -35.361279 149.164230 30.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361229 149.163025 80.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364563 149.163773 80.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364384 149.164795 80.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361027 149.164093 80.000000 1
6 0 0 177 2.000000 3.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
7 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.362915 149.162613 60.000000 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363136 149.162750 60.000000 1
9 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365467 149.164215 55.000000 1
10 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365009 149.165482 39.889999 1
11 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.363041 149.165222 0.000000 1

19
Tools/autotest/arduplane.py
View File

@ -1164,6 +1164,24 @@ class AutoTestPlane(AutoTest):
raise NotAchievedException("Fence not enabled after RC fail")
self.do_fence_disable() # Ensure the fence is disabled after test
def GCSFailsafe(self):
'''Ensure Long-Failsafe works on GCS loss'''
self.start_subtest("Test Failsafe: RTL")
self.load_sample_mission()
self.set_parameter("RTL_AUTOLAND", 1)
self.change_mode("AUTO")
self.takeoff()
self.set_parameter("FS_GCS_ENABL", 1)
self.set_parameter("FS_LONG_ACTN", 1)
self.progress("Disconnecting GCS")
self.set_heartbeat_rate(0)
self.delay_sim_time(5)
self.wait_mode("RTL")
self.set_heartbeat_rate(self.speedup)
self.fly_home_land_and_disarm()
self.end_subtest("Completed RTL Failsafe test")
def TestGripperMission(self):
'''Test Gripper mission items'''
self.context_push()
@ -4470,6 +4488,7 @@ class AutoTestPlane(AutoTest):
self.AltResetBadGPS,
self.AirspeedCal,
self.MissionJumpTags,
self.GCSFailsafe,
])
return ret