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autotest: add test for ArduPlane fly-inverted mission item

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Peter Barker 2023-09-17 08:10:05 +10:00 committed by Peter Barker
parent 9b06395573
commit ecbad5b35a
1 changed files with 61 additions and 0 deletions
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61
Tools/autotest/arduplane.py
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@ -4819,6 +4819,66 @@ class AutoTestPlane(AutoTest):
self._MAV_CMD_PREFLIGHT_CALIBRATION(self.run_cmd)
self._MAV_CMD_PREFLIGHT_CALIBRATION(self.run_cmd_int)
def MAV_CMD_DO_INVERTED_FLIGHT(self):
'''fly upside-down mission item'''
alt = 30
wps = self.create_simple_relhome_mission([
(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, alt),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 400, 0, alt),
self.create_MISSION_ITEM_INT(
mavutil.mavlink.MAV_CMD_DO_INVERTED_FLIGHT,
p1=1,
),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 800, 0, alt),
self.create_MISSION_ITEM_INT(
mavutil.mavlink.MAV_CMD_DO_INVERTED_FLIGHT,
p1=0,
),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 1200, 0, alt),
(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
])
self.check_mission_upload_download(wps)
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_current_waypoint(2) # upright flight
self.wait_message_field_values("NAV_CONTROLLER_OUTPUT", {
"nav_roll": 0,
"nav_pitch": 0,
}, epsilon=5)
def check_altitude(mav, m):
global initial_airspeed_threshold_reached
m_type = m.get_type()
if m_type != 'GLOBAL_POSITION_INT':
return
if abs(30 - m.relative_alt * 0.001) > 15:
raise NotAchievedException("Bad altitude while flying inverted")
self.context_push()
self.install_message_hook_context(check_altitude)
self.wait_current_waypoint(4) # inverted flight
self.wait_message_field_values("NAV_CONTROLLER_OUTPUT", {
"nav_roll": 180,
"nav_pitch": 9,
}, epsilon=10,)
self.wait_current_waypoint(6) # upright flight
self.wait_message_field_values("NAV_CONTROLLER_OUTPUT", {
"nav_roll": 0,
"nav_pitch": 0,
}, epsilon=5)
self.context_pop() # remove the check_altitude call
self.wait_current_waypoint(7)
self.fly_home_land_and_disarm()
def tests(self):
'''return list of all tests'''
ret = super(AutoTestPlane, self).tests()
@ -4911,6 +4971,7 @@ class AutoTestPlane(AutoTest):
self.ExternalPositionEstimate,
self.MAV_CMD_GUIDED_CHANGE_ALTITUDE,
self.MAV_CMD_PREFLIGHT_CALIBRATION,
self.MAV_CMD_DO_INVERTED_FLIGHT,
])
return ret