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autotest: add test for Plane do-go-around

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This commit is contained in:
Peter Barker 2023-09-26 15:58:40 +10:00 committed by Andrew Tridgell
parent af3992d795
commit 67b9a50153
2 changed files with 26 additions and 0 deletions
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8
Tools/autotest/ArduPlane_Tests/MAV_CMD_DO_GO_AROUND/mission.txt Normal file
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@ -0,0 +1,8 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165238 584.089966 1
1 0 3 22 0.000000 0.000000 0.000000 0.000000 -35.361438 149.165031 50.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361505 149.163723 50.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365845 149.164175 52.219997 1
4 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.368656 149.165976 54.410000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.366148 149.165741 50.849998 1
6 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.362920 149.165127 50.000000 1

18
Tools/autotest/arduplane.py
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@ -4909,6 +4909,23 @@ class AutoTestPlane(AutoTest):
self.disarm_vehicle()
self.reboot_sitl()
def _MAV_CMD_DO_GO_AROUND(self, command):
self.load_mission("mission.txt")
self.set_parameter("RTL_AUTOLAND", 3)
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_current_waypoint(6)
command(mavutil.mavlink.MAV_CMD_DO_GO_AROUND, p1=150)
self.wait_current_waypoint(5)
self.wait_altitude(135, 165, relative=True)
self.wait_disarmed(timeout=300)
def MAV_CMD_DO_GO_AROUND(self):
'''test MAV_CMD_DO_GO_AROUND as a mavlink command'''
self._MAV_CMD_DO_GO_AROUND(self.run_cmd)
self._MAV_CMD_DO_GO_AROUND(self.run_cmd_int)
def tests(self):
'''return list of all tests'''
ret = super(AutoTestPlane, self).tests()
@ -5004,6 +5021,7 @@ class AutoTestPlane(AutoTest):
self.MAV_CMD_PREFLIGHT_CALIBRATION,
self.MAV_CMD_DO_INVERTED_FLIGHT,
self.MAV_CMD_DO_AUTOTUNE_ENABLE,
self.MAV_CMD_DO_GO_AROUND,
])
return ret