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autotest: set RL_AUTOLAND=1 for more tests

This commit is contained in:
Peter Barker 2022-03-13 15:16:27 +11:00 committed by Randy Mackay
parent 4003ddb2cb
commit f93f8daee7
1 changed files with 17 additions and 5 deletions
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22
Tools/autotest/arduplane.py
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@ -570,9 +570,12 @@ class AutoTestPlane(AutoTest):
def fly_deepstall_absolute(self): def fly_deepstall_absolute(self):
self.start_subtest("DeepStall Relative Absolute") self.start_subtest("DeepStall Relative Absolute")
self.set_parameter("LAND_TYPE", 1)
deepstall_elevator_pwm = 1661 deepstall_elevator_pwm = 1661
self.set_parameter("LAND_DS_ELEV_PWM", deepstall_elevator_pwm) self.set_parameters({
"LAND_TYPE": 1,
"LAND_DS_ELEV_PWM": deepstall_elevator_pwm,
"RTL_AUTOLAND": 1,
})
self.load_mission("plane-deepstall-mission.txt") self.load_mission("plane-deepstall-mission.txt")
self.change_mode("AUTO") self.change_mode("AUTO")
self.wait_ready_to_arm() self.wait_ready_to_arm()
@ -593,9 +596,12 @@ class AutoTestPlane(AutoTest):
def fly_deepstall_relative(self): def fly_deepstall_relative(self):
self.start_subtest("DeepStall Relative") self.start_subtest("DeepStall Relative")
self.set_parameter("LAND_TYPE", 1)
deepstall_elevator_pwm = 1661 deepstall_elevator_pwm = 1661
self.set_parameter("LAND_DS_ELEV_PWM", deepstall_elevator_pwm) self.set_parameters({
"LAND_TYPE": 1,
"LAND_DS_ELEV_PWM": deepstall_elevator_pwm,
"RTL_AUTOLAND": 1,
})
self.load_mission("plane-deepstall-relative-mission.txt") self.load_mission("plane-deepstall-relative-mission.txt")
self.change_mode("AUTO") self.change_mode("AUTO")
self.wait_ready_to_arm() self.wait_ready_to_arm()
@ -1075,6 +1081,7 @@ class AutoTestPlane(AutoTest):
self.context_push() self.context_push()
ex = None ex = None
try: try:
self.set_parameter("RTL_AUTOLAND", 1)
self.load_mission("plane-gripper-mission.txt") self.load_mission("plane-gripper-mission.txt")
self.set_current_waypoint(1) self.set_current_waypoint(1)
self.change_mode('AUTO') self.change_mode('AUTO')
@ -1621,7 +1628,10 @@ class AutoTestPlane(AutoTest):
def airspeed_autocal(self): def airspeed_autocal(self):
self.progress("Ensure no AIRSPEED_AUTOCAL on ground") self.progress("Ensure no AIRSPEED_AUTOCAL on ground")
self.set_parameter("ARSPD_AUTOCAL", 1) self.set_parameters({
"ARSPD_AUTOCAL": 1,
"RTL_AUTOLAND": 1,
})
m = self.mav.recv_match(type='AIRSPEED_AUTOCAL', m = self.mav.recv_match(type='AIRSPEED_AUTOCAL',
blocking=True, blocking=True,
timeout=5) timeout=5)
@ -1719,6 +1729,7 @@ class AutoTestPlane(AutoTest):
self.set_parameters({ self.set_parameters({
"FLIGHT_OPTIONS": 0, "FLIGHT_OPTIONS": 0,
"ALT_HOLD_RTL": 8000, "ALT_HOLD_RTL": 8000,
"RTL_AUTOLAND": 1,
}) })
takeoff_alt = 10 takeoff_alt = 10
self.takeoff(alt=takeoff_alt) self.takeoff(alt=takeoff_alt)
@ -1837,6 +1848,7 @@ class AutoTestPlane(AutoTest):
'''ensure rangefinder gives height-above-ground''' '''ensure rangefinder gives height-above-ground'''
self.load_mission("plane-gripper-mission.txt") # borrow this self.load_mission("plane-gripper-mission.txt") # borrow this
self.set_parameter("RTL_AUTOLAND", 1)
self.set_current_waypoint(1) self.set_current_waypoint(1)
self.change_mode('AUTO') self.change_mode('AUTO')
self.wait_ready_to_arm() self.wait_ready_to_arm()