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autotest: improved GliderPullup test 

use LOITER_TO_ALT and a landing, allowing for a much better test of
the full glider pullup mission
This commit is contained in:
Andrew Tridgell 2024-09-29 09:15:28 +10:00
parent cb924d1363
commit f48b0375d8
3 changed files with 9 additions and 6 deletions
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5
Tools/autotest/ArduPlane_Tests/GliderPullup/glider-pullup-mission.txt
View File

@ -1,3 +1,6 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.000000 1
1 0 0 83 2000.000000 10.000000 30.000000 0.000000 0.000000 0.000000 0.000000 1
1 0 0 83 5700.000000 10.000000 30.000000 0.000000 0.000000 0.000000 0.000000 1
2 0 3 31 0.000000 0.000000 0.000000 0.000000 -35.413030 149.172036 1500.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.391115 149.169040 250.000000 1
4 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.362803 149.165169 0.000000 1

8
Tools/autotest/arduplane.py
View File

@ -6198,14 +6198,14 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.progress("Start balloon lift")
self.set_servo(6, 2000)
self.wait_text("Reached altitude", check_context=True, timeout=300)
self.wait_text("Reached altitude", check_context=True, timeout=1000)
self.wait_text("Start pullup airspeed", check_context=True)
self.wait_text("Pullup airspeed", check_context=True)
self.wait_text("Pullup pitch", check_context=True)
self.wait_text("Pullup level", check_context=True)
self.wait_text("Mission complete, changing mode to RTL", check_context=True)
self.fly_home_land_and_disarm(timeout=400)
self.wait_text("Loiter to alt complete", check_context=True, timeout=1000)
self.wait_text("Flare", check_context=True, timeout=400)
self.wait_text("Auto disarmed", check_context=True, timeout=200)
def BadRollChannelDefined(self):
'''ensure we don't die with a bad Roll channel defined'''

2
Tools/autotest/default_params/glider.parm
View File

@ -36,7 +36,7 @@ ARSPD_USE 1
HOME_RESET_ALT -1
TECS_INTEG_GAIN 0.25
TECS_SPDWEIGHT 2
TECS_SPDWEIGHT 1.7 # allow some altitude control
TECS_PTCH_DAMP 0.6
TECS_SINK_MAX 8.5
TECS_PITCH_MAX 10