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Tools: autotest: Copter: add test for fence avoidance sliding

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Peter Barker 2019-05-29 19:43:12 +10:00 committed by Randy Mackay
parent acdddb8b1f
commit 3008fe6eb5
1 changed files with 24 additions and 0 deletions
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24
Tools/autotest/arducopter.py
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@ -3190,6 +3190,26 @@ class AutoTestCopter(AutoTest):
if ex is not None:
raise ex
def fly_fence_avoidance_test(self):
self.context_push()
ex = None
try:
avoid_filepath = os.path.join(self.mission_directory(),
"copter-avoidance-fence.txt")
self.mavproxy.send("fence load %s\n" % avoid_filepath)
self.mavproxy.expect("Loaded 5 geo-fence")
self.set_parameter("FENCE_ENABLE", 1)
self.check_avoidance_corners()
except Exception as e:
self.progress("Caught exception: %s" % str(e))
ex = e
self.context_pop()
self.mavproxy.send("fence clear\n")
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex is not None:
raise ex
def tests(self):
'''return list of all tests'''
ret = super(AutoTestCopter, self).tests()
@ -3261,6 +3281,10 @@ class AutoTestCopter(AutoTest):
"Test proximity avoidance slide behaviour",
self.fly_proximity_avoidance_test),
("AC_Avoidance_Fence",
"Test fence avoidance slide behaviour",
self.fly_fence_avoidance_test),
("HorizontalFence",
"Test horizontal fence",
self.fly_fence_test),