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Autotest: copter: add test for mandatory alt estimation for Alt_hold

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This commit is contained in:
Pierre Kancir 2020-08-20 11:15:51 +02:00 committed by Peter Barker
parent cddb5fb1cc
commit f73e4c0071
1 changed files with 27 additions and 0 deletions
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27
Tools/autotest/arducopter.py
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@ -5148,6 +5148,29 @@ class AutoTestCopter(AutoTest):
self.drain_mav()
self.assert_prearm_failure("Check MOT_PWM_MIN/MAX")
def test_alt_estimate_prearm(self):
self.context_push()
ex = None
try:
self.set_parameter("EK2_ALT_SOURCE", 2)
self.wait_gps_disable()
self.change_mode("ALT_HOLD")
self.assert_prearm_failure("Need Alt Estimate")
self.change_mode("STABILIZE")
self.arm_vehicle()
self.takeoff()
try:
self.change_mode("ALT_HOLD", timeout=10)
except AutoTestTimeoutException:
self.progress("PASS not able to set mode without Position : %s" % "ALT_HOLD")
except Exception as e:
ex = e
self.context_pop()
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex is not None:
raise ex
def tests1(self):
'''return list of all tests'''
ret = super(AutoTestCopter, self).tests()
@ -5421,6 +5444,10 @@ class AutoTestCopter(AutoTest):
"Run Motor Tests",
self.test_motortest),
("AltEstimation",
"Test that Alt Estimation is mandatory for ALT_HOLD",
self.test_alt_estimate_prearm),
("LogUpload",
"Log upload",
self.log_upload),