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Tools: autotest: add test for Plane reposition

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Peter Barker 2019-08-05 21:09:07 +10:00 committed by Peter Barker
parent b2d9d7b6a0
commit 16503f7f25
1 changed files with 33 additions and 0 deletions
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33
Tools/autotest/arduplane.py
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@ -526,6 +526,31 @@ class AutoTestPlane(AutoTest):
self.mavproxy.expect("Auto disarmed") self.mavproxy.expect("Auto disarmed")
self.progress("Mission OK") self.progress("Mission OK")
def fly_do_reposition(self):
self.progress("Takeoff")
self.takeoff(alt=50)
self.set_rc(3, 1500)
self.progress("Entering guided and flying somewhere constant")
self.change_mode("GUIDED")
loc = self.mav.location()
self.location_offset_ne(loc, 500, 500)
new_alt = 100
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_DO_REPOSITION,
0,
0,
0,
0,
loc.lat*1e7,
loc.lng*1e7,
new_alt, # alt
frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
)
self.wait_altitude(new_alt-10, new_alt, timeout=30, relative=True)
self.fly_home_land_and_disarm()
def fly_do_change_speed(self): def fly_do_change_speed(self):
# the following lines ensure we revert these parameter values # the following lines ensure we revert these parameter values
# - DO_CHANGE_AIRSPEED is a permanent vehicle change! # - DO_CHANGE_AIRSPEED is a permanent vehicle change!
@ -607,6 +632,9 @@ class AutoTestPlane(AutoTest):
self.progress("groundspeed and airspeed should be different (have=%f want=%f)" % (delta, want_delta)) self.progress("groundspeed and airspeed should be different (have=%f want=%f)" % (delta, want_delta))
if delta > want_delta: if delta > want_delta:
break break
self.fly_home_land_and_disarm()
def fly_home_land_and_disarm(self):
filename = os.path.join(testdir, "flaps.txt") filename = os.path.join(testdir, "flaps.txt")
self.progress("Using %s to fly home" % filename) self.progress("Using %s to fly home" % filename)
self.load_mission(filename) self.load_mission(filename)
@ -1073,6 +1101,7 @@ class AutoTestPlane(AutoTest):
disable_on_breach=True) disable_on_breach=True)
def location_offset_ne(self, location, north, east): def location_offset_ne(self, location, north, east):
'''move location in metres'''
print("old: %f %f" % (location.lat, location.lng)) print("old: %f %f" % (location.lat, location.lng))
(lat, lng) = mp_util.gps_offset(location.lat, location.lng, east, north) (lat, lng) = mp_util.gps_offset(location.lat, location.lng, east, north)
location.lat = lat location.lat = lat
@ -1355,6 +1384,10 @@ class AutoTestPlane(AutoTest):
("DO_CHANGE_SPEED", "Test mavlink DO_CHANGE_SPEED command", self.fly_do_change_speed), ("DO_CHANGE_SPEED", "Test mavlink DO_CHANGE_SPEED command", self.fly_do_change_speed),
("DO_REPOSITION",
"Test mavlink DO_REPOSITION command",
self.fly_do_reposition),
("MainFlight", ("MainFlight",
"Lots of things in one flight", "Lots of things in one flight",
self.test_main_flight), self.test_main_flight),