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autotest: adjust for terrain arming requirements

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Lots of tests really did need terrain stuff but weren't able to get it
This commit is contained in:
Peter Barker 2022-08-04 16:15:44 +10:00 committed by Peter Barker
parent c2d91a3bdb
commit 5ee8f99e7b
2 changed files with 18 additions and 5 deletions
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4
Tools/autotest/arducopter.py
View File

@ -487,7 +487,9 @@ class AutoTestCopter(AutoTest):
self.change_mode('LOITER')
self.wait_ready_to_arm()
mavproxy = self.start_mavproxy()
self.wait_ready_to_arm(timeout=120*60) # terrain takes time
self.stop_mavproxy(mavproxy)
self.arm_vehicle()

19
Tools/autotest/quadplane.py
View File

@ -282,7 +282,7 @@ class AutoTestQuadPlane(AutoTest):
self.disarm_vehicle()
self.wait_ready_to_arm()
def fly_mission(self, filename, fence=None, height_accuracy=-1):
def fly_mission(self, filename, fence=None, height_accuracy=-1, include_terrain_timeout=False):
"""Fly a mission from a file."""
self.progress("Flying mission %s" % filename)
self.load_mission(filename)
@ -290,7 +290,12 @@ class AutoTestQuadPlane(AutoTest):
self.load_fence(fence)
if self.mavproxy is not None:
self.mavproxy.send('wp list\n')
self.wait_ready_to_arm()
# terrain can take a *long* time to load:
timeout = 120
if include_terrain_timeout:
timeout *= 1000 # yes, *that* long
mavproxy = self.start_mavproxy()
self.wait_ready_to_arm(timeout=timeout)
self.arm_vehicle()
self.change_mode('AUTO')
self.wait_waypoint(1, 19, max_dist=60, timeout=1200)
@ -298,12 +303,13 @@ class AutoTestQuadPlane(AutoTest):
self.wait_disarmed(timeout=120) # give quadplane a long time to land
# wait for blood sample here
self.set_current_waypoint(20)
self.wait_ready_to_arm()
self.wait_ready_to_arm(timeout=timeout)
self.arm_vehicle()
self.wait_waypoint(20, 34, max_dist=60, timeout=1200)
self.wait_disarmed(timeout=120) # give quadplane a long time to land
self.progress("Mission OK")
self.stop_mavproxy(mavproxy)
def enum_state_name(self, enum_name, state, pretrim=None):
e = mavutil.mavlink.enums[enum_name]
@ -887,7 +893,12 @@ class AutoTestQuadPlane(AutoTest):
self.EXTENDED_SYS_STATE),
("Mission", "Dalby Mission",
lambda: self.fly_mission("Dalby-OBC2016.txt", "Dalby-OBC2016-fence.txt")),
lambda: self.fly_mission(
"Dalby-OBC2016.txt",
"Dalby-OBC2016-fence.txt",
include_terrain_timeout=True
)
),
("Weathervane",
"Test Weathervane Functionality",