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Tools: fixed RefindGPS test

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this test was relying on the EKF bug fixed in this PR. The copter was
actually fully landing and touching the ground in the LAND phase
whereas the original intention of this test was that it not touch the
ground in LAND. See the graph in
https://github.com/ArduPilot/ardupilot/pull/17104 where the test was
added
This commit is contained in:
Andrew Tridgell 2023-06-26 09:19:14 +10:00
parent d11d4fa0bf
commit 669b58b017
1 changed files with 2 additions and 2 deletions
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4
Tools/autotest/arducopter.py
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@ -8843,10 +8843,10 @@ class AutoTestCopter(AutoTest):
'''Refind the GPS and attempt to RTL rather than continue to land'''
# https://github.com/ArduPilot/ardupilot/issues/14236
self.progress("arm the vehicle and takeoff in Guided")
self.takeoff(20, mode='GUIDED')
self.takeoff(50, mode='GUIDED')
self.progress("fly 50m North (or whatever)")
old_pos = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
self.fly_guided_move_global_relative_alt(50, 0, 20)
self.fly_guided_move_global_relative_alt(50, 0, 50)
self.set_parameter('GPS_TYPE', 0)
self.drain_mav()
tstart = self.get_sim_time()