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autotest: add test showing throttle saturation problem

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autotest: verbose minimum_duration in wait_message_field_values
This commit is contained in:
Peter Barker 2024-05-21 10:12:31 +10:00 committed by Peter Barker
parent 9e08a98515
commit f930ba788b
2 changed files with 26 additions and 1 deletions
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18
Tools/autotest/arduplane.py
View File

@ -5340,6 +5340,22 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.drain_mav()
self.assert_servo_channel_value(3, servo_min)
def ClimbThrottleSaturation(self):
'''check what happens when throttle is saturated in GUIDED'''
self.set_parameters({
"TECS_CLMB_MAX": 30,
"TKOFF_ALT": 1000,
})
self.change_mode("TAKEOFF")
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_message_field_values('VFR_HUD', {
"throttle": 100,
}, minimum_duration=30, timeout=90)
self.disarm_vehicle(force=True)
self.reboot_sitl()
def tests(self):
'''return list of all tests'''
ret = super(AutoTestPlane, self).tests()
@ -5449,6 +5465,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.MAV_CMD_NAV_LOITER_UNLIM,
self.MAV_CMD_NAV_RETURN_TO_LAUNCH,
self.MinThrottle,
self.ClimbThrottleSaturation,
])
return ret
@ -5456,4 +5473,5 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
return {
"LandingDrift": "Flapping test. See https://github.com/ArduPilot/ardupilot/issues/20054",
"InteractTest": "requires user interaction",
"ClimbThrottleSaturation": "requires https://github.com/ArduPilot/ardupilot/pull/27106 to pass",
}

9
Tools/autotest/vehicle_test_suite.py
View File

@ -4225,6 +4225,7 @@ class TestSuite(ABC):
tstart = self.get_sim_time_cached()
pass_start = None
last_debug = 0
while True:
now = self.get_sim_time_cached()
if now - tstart > timeout:
@ -4240,8 +4241,14 @@ class TestSuite(ABC):
if pass_start is None:
pass_start = now
continue
if now - pass_start < minimum_duration:
delta = now - pass_start
if now - last_debug >= 1:
last_debug = now
self.progress(f"Good field values ({delta:.2f}s/{minimum_duration}s)")
if delta < minimum_duration:
continue
else:
self.progress("Reached field values")
return m
pass_start = None