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autotest: Add test for terrain following mission.

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This commit is contained in:
Samuel Tabor 2020-07-04 18:57:49 +01:00 committed by Peter Barker
parent c3f039a739
commit ed14ab84ce
2 changed files with 23 additions and 0 deletions
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9
Tools/autotest/ArduPlane_Tests/Terrain/ap-terrain.txt Normal file
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@ -0,0 +1,9 @@
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 15.000000 0.000000 0.000000 0.000000 0.000000 0.000000 80.000000 1
2 0 10 16 0.000000 0.000000 0.000000 0.000000 -35.361821 149.112238 100.000000 1
3 0 10 16 0.000000 0.000000 0.000000 0.000000 -35.367368 149.156778 100.000000 1
4 0 0 178 0.000000 13.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.368122 149.166056 24.040001 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.366814 149.165878 28.000000 1
7 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.362911 149.165222 0.000000 1

14
Tools/autotest/arduplane.py
View File

@ -1745,6 +1745,16 @@ class AutoTestPlane(AutoTest):
self.progress("Mission OK") self.progress("Mission OK")
def fly_terrain_mission(self):
self.customise_SITL_commandline([], wipe=True)
self.mavproxy.send("wp set 1\n")
self.wait_ready_to_arm()
self.arm_vehicle()
self.fly_mission("ap-terrain.txt", mission_timeout=600)
def tests(self): def tests(self):
'''return list of all tests''' '''return list of all tests'''
ret = super(AutoTestPlane, self).tests() ret = super(AutoTestPlane, self).tests()
@ -1854,6 +1864,10 @@ class AutoTestPlane(AutoTest):
"Test Soaring feature", "Test Soaring feature",
self.fly_soaring), self.fly_soaring),
("Terrain",
"Test terrain following in mission",
self.fly_terrain_mission),
("LogUpload", ("LogUpload",
"Log upload", "Log upload",
self.log_upload), self.log_upload),