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autotest: Update for new soaring behaviour.

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This commit is contained in:
Samuel Tabor 2020-09-07 12:52:58 +01:00 committed by Peter Barker
parent 59f4c7a3c0
commit f6017d60bf
2 changed files with 11 additions and 9 deletions
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18
Tools/autotest/arduplane.py
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@ -1750,6 +1750,9 @@ class AutoTestPlane(AutoTest):
self.send_set_rc(rc_chan, 1900)
# Use trim airspeed.
self.send_set_rc(3, 1500)
# Wait to detect thermal
self.progress("Waiting for thermal")
self.wait_mode('LOITER',timeout=600)
@ -1779,6 +1782,9 @@ class AutoTestPlane(AutoTest):
alt_ctf = self.get_parameter('SOAR_ALT_CUTOFF')
self.wait_altitude(alt_ctf-10, alt_ctf, timeout=600, relative=True)
# Wait
self.delay_sim_time(20)
# Now set FBWB mode
self.change_mode('FBWB')
self.delay_sim_time(5)
@ -1791,17 +1797,11 @@ class AutoTestPlane(AutoTest):
self.set_parameter("SOAR_ENABLE", 1)
self.delay_sim_time(10)
# Now wait for descent and check RTL
# Now wait for descent and check throttle up
self.wait_altitude(alt_min-10, alt_min, timeout=600, relative=True)
self.progress("Waiting for RTL")
self.wait_mode('RTL')
alt_rtl = self.get_parameter('ALT_HOLD_RTL')/100
# Wait for climb to RTL.
self.progress("Waiting for climb to RTL altitude")
self.wait_altitude(alt_rtl-5, alt_rtl+5, timeout=60, relative=True)
self.progress("Waiting for climn")
self.wait_altitude(alt_ctf-10, alt_ctf, timeout=600, relative=True)
# Back to auto
self.change_mode('AUTO')

2
Tools/autotest/default_params/plane-soaring.parm
View File

@ -1,6 +1,8 @@
ARSPD_FBW_MAX 20
ARSPD_FBW_MIN 6
FLIGHT_OPTIONS 2
PTCH2SRV_I 0.200000
PTCH2SRV_IMAX 4000.000000