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Tools: copter do-change-speed autotest checks takeoff

This commit is contained in:
Randy Mackay 2023-12-05 19:43:19 +09:00
parent 5718c49928
commit fdb1c26ae8
2 changed files with 22 additions and 14 deletions
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21
Tools/autotest/ArduCopter_Tests/DO_CHANGE_SPEED/mission.txt
View File

@ -1,11 +1,12 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.090027 1
1 0 3 22 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 20.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.362656 149.165072 20.000000 1
3 0 0 178 1.000000 15.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.360174 149.167908 14.000000 1
5 0 0 178 1.000000 10.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363296 149.169244 18.000000 1
7 0 0 178 1.000000 16.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364115 149.165747 20.000000 1
9 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
0 1 0 16 0 0 0 0 -35.3632620 149.1652370 584.090000 1
1 0 3 22 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 20.000000 1
2 0 3 178 0.00000000 4.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.000000 1
3 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 -35.36265600 149.16507200 20.000000 1
4 0 0 178 1.00000000 15.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.000000 1
5 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 -35.36017400 149.16790800 14.000000 1
6 0 0 178 1.00000000 10.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.000000 1
7 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 -35.36329600 149.16924400 18.000000 1
8 0 0 178 1.00000000 16.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.000000 1
9 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 -35.36411500 149.16574700 20.000000 1
10 0 0 20 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.000000 1

13
Tools/autotest/arducopter.py
View File

@ -9505,14 +9505,21 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_current_waypoint(2)
self.wait_current_waypoint(1)
self.wait_groundspeed(
3.5, 4.5,
minimum_duration=5,
timeout=60,
)
self.wait_current_waypoint(3)
self.wait_groundspeed(
14.5, 15.5,
minimum_duration=10,
timeout=60,
)
self.wait_current_waypoint(4)
self.wait_current_waypoint(5)
self.wait_groundspeed(
9.5, 11.5,
minimum_duration=10,
@ -9520,7 +9527,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
)
self.set_parameter("ANGLE_MAX", 6000)
self.wait_current_waypoint(6)
self.wait_current_waypoint(7)
self.wait_groundspeed(
15.5, 16.5,
minimum_duration=10,