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autotest: fix Copter PrecisionLoiterCompanion

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Peter Barker 2022-07-28 16:44:03 +10:00 committed by Peter Barker
parent 35d60d8025
commit 1c78baac72
1 changed files with 21 additions and 28 deletions
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49
Tools/autotest/arducopter.py
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@ -4279,15 +4279,16 @@ class AutoTestCopter(AutoTest):
# print("r=%s" % str(r))
return r * vector
def loiter_to_ne(self, x, y, z, timeout=40):
'''loiter to x, y, z from origin (in metres), z is *up*'''
def precision_loiter_to_pos(self, x, y, z, timeout=40):
'''send landing_target messages at vehicle until it arrives at
location to x, y, z from origin (in metres), z is *up*'''
dest_ned = rotmat.Vector3(x, y, -z)
tstart = self.get_sim_time()
success_start = -1
while True:
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise NotAchievedException("Did not loiter to ne!")
raise NotAchievedException("Did not loiter to position!")
m_pos = self.mav.recv_match(type='LOCAL_POSITION_NED',
blocking=True)
pos_ned = rotmat.Vector3(m_pos.x, m_pos.y, m_pos.z)
@ -5885,41 +5886,30 @@ class AutoTestCopter(AutoTest):
self.stop_mavproxy(mavproxy)
def fly_precision_companion(self):
def PrecisionLoiterCompanion(self):
"""Use Companion PrecLand backend precision messages to loiter."""
self.context_push()
ex = None
try:
self.set_parameter("PLND_ENABLED", 1)
# enable companion backend:
self.set_parameter("PLND_TYPE", 1)
self.set_parameters({
"PLND_ENABLED": 1,
"PLND_TYPE": 1, # enable companion backend:
"RC7_OPTION": 39, # set up a channel switch to enable precision loiter:
})
self.set_analog_rangefinder_parameters()
# set up a channel switch to enable precision loiter:
self.set_parameter("RC7_OPTION", 39)
self.reboot_sitl()
self.progress("Waiting for location")
self.mav.location()
self.zero_throttle()
self.change_mode('STABILIZE')
self.change_mode('LOITER')
self.wait_ready_to_arm()
# we should be doing precision loiter at this point
start = self.mav.recv_match(type='LOCAL_POSITION_NED',
blocking=True)
start = self.assert_receive_message('LOCAL_POSITION_NED')
self.takeoff(20, mode='ALT_HOLD')
self.arm_vehicle()
self.set_rc(3, 1800)
alt_min = 10
self.wait_altitude(alt_min,
(alt_min + 5),
relative=True)
self.set_rc(3, 1500)
# move away a little
self.set_rc(2, 1550)
self.wait_distance(5, accuracy=1)
@ -5927,18 +5917,21 @@ class AutoTestCopter(AutoTest):
self.change_mode('LOITER')
# turn precision loiter on:
self.context_collect('STATUSTEXT')
self.set_rc(7, 2000)
# try to drag aircraft to a position 5 metres north-east-east:
self.loiter_to_ne(start.x + 5, start.y + 10, start.z + 10)
self.loiter_to_ne(start.x + 5, start.y - 10, start.z + 10)
self.precision_loiter_to_pos(start.x + 5, start.y + 10, start.z + 10)
self.wait_statustext("PrecLand: Target Found", check_context=True, timeout=10)
self.wait_statustext("PrecLand: Init Complete", check_context=True, timeout=10)
# .... then northwest
self.precision_loiter_to_pos(start.x + 5, start.y - 10, start.z + 10)
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.zero_throttle()
self.disarm_vehicle(force=True)
self.reboot_sitl()
self.progress("All done")
@ -8773,7 +8766,7 @@ class AutoTestCopter(AutoTest):
("PrecisionLoiterCompanion",
"Precision Loiter (Companion)",
self.fly_precision_companion), # 29s
self.PrecisionLoiterCompanion), # 29s
("Landing",
"Test landing",