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Tools: test use Location::AltFrame for guided_state.target_alt_frame

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timtuxworth 2024-08-30 10:49:57 -06:00 committed by Peter Barker
parent 1133f82799
commit fdbbd320a4
2 changed files with 55 additions and 0 deletions
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51
Tools/autotest/arduplane.py
View File

@ -5533,6 +5533,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
def MAV_CMD_GUIDED_CHANGE_ALTITUDE(self): def MAV_CMD_GUIDED_CHANGE_ALTITUDE(self):
'''test handling of MAV_CMD_GUIDED_CHANGE_ALTITUDE''' '''test handling of MAV_CMD_GUIDED_CHANGE_ALTITUDE'''
self.start_subtest("set home relative altitude")
self.takeoff(30, relative=True) self.takeoff(30, relative=True)
self.change_mode('GUIDED') self.change_mode('GUIDED')
for alt in 50, 70: for alt in 50, 70:
@ -5544,6 +5545,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.wait_altitude(alt-1, alt+1, timeout=30, relative=True) self.wait_altitude(alt-1, alt+1, timeout=30, relative=True)
# test for #24535 # test for #24535
self.start_subtest("switch to loiter and resume guided maintains home relative altitude")
self.change_mode('LOITER') self.change_mode('LOITER')
self.delay_sim_time(5) self.delay_sim_time(5)
self.change_mode('GUIDED') self.change_mode('GUIDED')
@ -5554,6 +5556,55 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
timeout=30, timeout=30,
relative=True, relative=True,
) )
# test that this works if switching between RELATIVE (HOME) and GLOBAL(AMSL)
self.start_subtest("set global/AMSL altitude, switch to loiter and resume guided")
alt = 625
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_GUIDED_CHANGE_ALTITUDE,
p7=alt,
frame=mavutil.mavlink.MAV_FRAME_GLOBAL,
)
self.wait_altitude(alt-3, alt+3, timeout=30, relative=False)
self.change_mode('LOITER')
self.delay_sim_time(5)
self.change_mode('GUIDED')
self.wait_altitude(
alt-5, # NOTE: reuse of alt from above CHANGE_ALTITUDE
alt+5,
minimum_duration=10,
timeout=30,
relative=False,
)
# test that this works if switching between RELATIVE (HOME) and terrain
self.start_subtest("set terrain altitude, switch to loiter and resume guided")
self.change_mode('GUIDED')
alt = 100
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_GUIDED_CHANGE_ALTITUDE,
p7=alt,
frame=mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT,
)
self.wait_altitude(
alt-5, # NOTE: reuse of alt from abovE
alt+5, # use a 5m buffer as the plane needs to go up and down a bit to maintain terrain distance
minimum_duration=10,
timeout=30,
relative=False,
altitude_source="TERRAIN_REPORT.current_height"
)
self.change_mode('LOITER')
self.delay_sim_time(5)
self.change_mode('GUIDED')
self.wait_altitude(
alt-5, # NOTE: reuse of alt from abovE
alt+5, # use a 5m buffer as the plane needs to go up and down a bit to maintain terrain distance
minimum_duration=10,
timeout=30,
relative=False,
altitude_source="TERRAIN_REPORT.current_height"
)
self.delay_sim_time(5)
self.fly_home_land_and_disarm() self.fly_home_land_and_disarm()
def _MAV_CMD_PREFLIGHT_CALIBRATION(self, command): def _MAV_CMD_PREFLIGHT_CALIBRATION(self, command):

4
Tools/autotest/vehicle_test_suite.py
View File

@ -7176,6 +7176,10 @@ class TestSuite(ABC):
altitude_source = "GLOBAL_POSITION_INT.relative_alt" altitude_source = "GLOBAL_POSITION_INT.relative_alt"
else: else:
altitude_source = "GLOBAL_POSITION_INT.alt" altitude_source = "GLOBAL_POSITION_INT.alt"
if altitude_source == "TERRAIN_REPORT.current_height":
terrain = self.assert_receive_message('TERRAIN_REPORT')
return terrain.current_height
(msg, field) = altitude_source.split('.') (msg, field) = altitude_source.split('.')
msg = self.poll_message(msg, quiet=True) msg = self.poll_message(msg, quiet=True)
divisor = 1000.0 # mm is pretty common in mavlink divisor = 1000.0 # mm is pretty common in mavlink