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autotest: Fractional Loiter Turn Test

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This commit is contained in:
J.R. Bronkar 2024-01-02 09:13:57 +00:00 committed by Tom Pittenger
parent e602aa68a4
commit 3a3f4ea446
1 changed files with 13 additions and 6 deletions
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19
Tools/autotest/arduplane.py
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@ -4381,8 +4381,8 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
seq = 0 seq = 0
items = [] items = []
tests = [ tests = [
(self.home_relative_loc_ne(50, -50), 100), (self.home_relative_loc_ne(50, -50), 100, 0.3),
(self.home_relative_loc_ne(100, 50), 1005), (self.home_relative_loc_ne(100, 50), 1005, 3),
] ]
# add a home position: # add a home position:
items.append(self.mav.mav.mission_item_int_encode( items.append(self.mav.mav.mission_item_int_encode(
@ -4423,7 +4423,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
seq += 1 seq += 1
# add circles # add circles
for (loc, radius) in tests: for (loc, radius, turn) in tests:
items.append(self.mav.mav.mission_item_int_encode( items.append(self.mav.mav.mission_item_int_encode(
target_system, target_system,
target_component, target_component,
@ -4432,7 +4432,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
mavutil.mavlink.MAV_CMD_NAV_LOITER_TURNS, mavutil.mavlink.MAV_CMD_NAV_LOITER_TURNS,
0, # current 0, # current
0, # autocontinue 0, # autocontinue
3, # p1 turn, # p1
0, # p2 0, # p2
radius, # p3 radius, # p3
0, # p4 0, # p4
@ -4465,7 +4465,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION) downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
ofs = 2 ofs = 2
self.progress("Checking downloaded mission is as expected") self.progress("Checking downloaded mission is as expected")
for (loc, radius) in tests: for (loc, radius, turn) in tests:
downloaded = downloaded_items[ofs] downloaded = downloaded_items[ofs]
if radius > 255: if radius > 255:
# ArduPilot only stores % 10 # ArduPilot only stores % 10
@ -4474,6 +4474,13 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
raise NotAchievedException( raise NotAchievedException(
"Did not get expected radius for item %u; want=%f got=%f" % "Did not get expected radius for item %u; want=%f got=%f" %
(ofs, radius, downloaded.param3)) (ofs, radius, downloaded.param3))
if turn > 0 and turn < 1:
# ArduPilot stores fractions in 8 bits (*256) and unpacks it (/256)
turn = int(turn*256) / 256.0
if downloaded.param1 != turn:
raise NotAchievedException(
"Did not get expected turn for item %u; want=%f got=%f" %
(ofs, turn, downloaded.param1))
ofs += 1 ofs += 1
self.change_mode('AUTO') self.change_mode('AUTO')
@ -4483,7 +4490,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.wait_current_waypoint(2) self.wait_current_waypoint(2)
for (loc, expected_radius) in tests: for (loc, expected_radius, _) in tests:
self.wait_circling_point_with_radius( self.wait_circling_point_with_radius(
loc, loc,
expected_radius, expected_radius,