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autotest: add takeoff check test

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This commit is contained in:
Andy Piper 2022-05-26 14:00:04 +01:00 committed by Peter Hall
parent 2de992dcf1
commit 203f691df4
1 changed files with 41 additions and 1 deletions
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42
Tools/autotest/arducopter.py
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@ -1125,6 +1125,43 @@ class AutoTestCopter(AutoTest):
self.context_pop()
self.reboot_sitl()
def test_takeoff_check_mode(self, mode, user_takeoff=False):
# stabilize check
self.progress("Motor takeoff check in %s" % mode)
self.change_mode(mode)
self.zero_throttle()
self.wait_ready_to_arm()
self.context_collect('STATUSTEXT')
self.send_mavlink_arm_command()
self.mav.recv_match(blocking=True, timeout=1)
if user_takeoff:
self.run_cmd(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 0, 0, 0, 0, 10)
else:
self.set_rc(3, 1700)
# we may never see ourselves as armed is a heartbeat
self.wait_statustext("Takeoff blocked: ESC RPM too low")
self.zero_throttle()
self.disarm_vehicle()
self.wait_disarmed()
# Tests the motor failsafe
def test_takeoff_check(self):
self.set_parameters({
"AHRS_EKF_TYPE": 10,
'SIM_ESC_TELEM': 1,
'SIM_ESC_ARM_RPM': 500,
'TKOFF_RPM_MIN': 1000,
})
self.test_takeoff_check_mode("STABILIZE")
self.test_takeoff_check_mode("ACRO")
self.test_takeoff_check_mode("LOITER")
self.test_takeoff_check_mode("ALT_HOLD")
# self.test_takeoff_check_mode("FLOWHOLD")
self.test_takeoff_check_mode("GUIDED", True)
self.test_takeoff_check_mode("POSHOLD")
# self.test_takeoff_check_mode("SPORT")
def assert_dataflash_message_field_level_at(self,
mtype,
field,
@ -5194,7 +5231,7 @@ class AutoTestCopter(AutoTest):
"LOG_DISARMED": 0,
"SIM_VIB_MOT_MAX": 350,
"SIM_GYR1_RND": 20,
"SIM_ESC_TELEM": 1,
"SIM_ESC_TELEM": 1
})
self.reboot_sitl()
@ -8895,6 +8932,9 @@ class AutoTestCopter(AutoTest):
"Test Splines and Terrain",
self.test_terrain_spline_mission),
("TakeoffCheck",
"Test takeoff check",
self.test_takeoff_check),
])
return ret