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autotest: add quadplane test for qassist

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This commit is contained in:
Peter Barker 2020-05-19 14:52:22 +10:00 committed by Peter Barker
parent af19fea268
commit 1f1383ab64
2 changed files with 41 additions and 3 deletions
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3
Tools/autotest/common.py
View File

@ -2302,7 +2302,8 @@ class AutoTest(ABC):
while True:
delta = self.get_sim_time_cached() - tstart
if delta > timeout:
raise AutoTestTimeoutException("Failed to DISARM")
raise AutoTestTimeoutException("Failed to DISARM within %fs" %
(timeout,))
self.wait_heartbeat()
self.progress("Got heartbeat")
if not self.mav.motors_armed():

41
Tools/autotest/quadplane.py
View File

@ -181,14 +181,14 @@ class AutoTestQuadPlane(AutoTest):
self.wait_altitude(-5, 1, relative=True, timeout=60)
self.wait_disarmed()
def fly_home_land_and_disarm(self):
def fly_home_land_and_disarm(self, timeout=30):
self.set_parameter("LAND_TYPE", 0)
filename = "flaps.txt"
self.progress("Using %s to fly home" % filename)
self.load_mission(filename)
self.change_mode("AUTO")
self.mavproxy.send('wp set 7\n')
self.wait_disarmed()
self.wait_disarmed(timeout=timeout)
def wait_level_flight(self, accuracy=5, timeout=30):
"""Wait for level flight."""
@ -410,6 +410,39 @@ class AutoTestQuadPlane(AutoTest):
'''In lockup Plane should copy RC inputs to RC outputs'''
self.plane_CPUFailsafe()
def test_qassist(self):
# find a motor peak
self.takeoff(10, mode="QHOVER")
self.set_rc(3, 1800)
self.change_mode("FBWA")
thr_min_pwm = self.get_parameter("Q_THR_MIN_PWM")
self.progress("Waiting for motors to stop (transition completion)")
self.wait_servo_channel_value(5,
thr_min_pwm,
timeout=30,
comparator=operator.eq)
self.delay_sim_time(5)
self.wait_servo_channel_value(5,
thr_min_pwm,
timeout=30,
comparator=operator.eq)
self.progress("Stopping forward motor to kill airspeed below limit")
self.set_rc(3, 1000)
self.progress("Waiting for qassist to kick in")
self.wait_servo_channel_value(5, 1400, timeout=30, comparator=operator.gt)
self.progress("Move forward again, check qassist stops")
self.set_rc(3, 1800)
self.progress("Checking qassist stops")
self.wait_servo_channel_value(5,
thr_min_pwm,
timeout=30,
comparator=operator.eq)
self.set_rc(3, 1500)
self.change_mode("RTL")
self.delay_sim_time(20)
self.change_mode("QRTL")
self.wait_disarmed(timeout=180)
def tests(self):
'''return list of all tests'''
@ -424,6 +457,10 @@ class AutoTestQuadPlane(AutoTest):
("Mission", "Dalby Mission",
lambda: self.fly_mission("Dalby-OBC2016.txt", "Dalby-OBC2016-fence.txt")),
("QAssist",
"QuadPlane Assist tests",
self.test_qassist),
("GyroFFT", "Fly Gyro FFT",
self.fly_gyro_fft)
])