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autotest: add test for deepstall with relative LAND item

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Peter Barker 2019-10-18 08:24:25 +11:00 committed by Andrew Tridgell
parent abf935b45c
commit ee97007f31
2 changed files with 34 additions and 0 deletions
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28
Tools/autotest/arduplane.py
View File

@ -546,6 +546,11 @@ class AutoTestPlane(AutoTest):
self.fly_home_land_and_disarm()
def fly_deepstall(self):
# self.fly_deepstall_absolute()
self.fly_deepstall_relative()
def fly_deepstall_absolute(self):
self.start_subtest("DeepStall Relative Absolute")
self.set_parameter("LAND_TYPE", 1)
deepstall_elevator_pwm = 1661
self.set_parameter("LAND_DS_ELEV_PWM", deepstall_elevator_pwm)
@ -567,6 +572,29 @@ class AutoTestPlane(AutoTest):
self.set_parameter("LAND_TYPE", 0)
self.fly_home_land_and_disarm()
def fly_deepstall_relative(self):
self.start_subtest("DeepStall Relative")
self.set_parameter("LAND_TYPE", 1)
deepstall_elevator_pwm = 1661
self.set_parameter("LAND_DS_ELEV_PWM", deepstall_elevator_pwm)
self.load_mission("plane-deepstall-relative-mission.txt")
self.change_mode("AUTO")
self.wait_ready_to_arm()
self.arm_vehicle()
self.progress("Waiting for deepstall messages")
self.wait_text("Deepstall: Entry: ", timeout=240)
# assume elevator is on channel 2:
self.wait_servo_channel_value(2, deepstall_elevator_pwm)
self.disarm_wait(timeout=120)
self.progress("Flying home")
self.takeoff(10)
self.set_parameter("LAND_TYPE", 0)
self.fly_home_land_and_disarm()
def fly_do_change_speed(self):
# the following lines ensure we revert these parameter values
# - DO_CHANGE_AIRSPEED is a permanent vehicle change!

6
Tools/autotest/plane-deepstall-relative-mission.txt Normal file
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@ -0,0 +1,6 @@
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 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 100.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.362279 149.164503 100.000000 1
3 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.362565 149.164358 100.000000 1
4 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.363556 149.162938 60.000000 1