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Tools: tweak Qassist test to be more reliable

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disabling stall prevention should help with travis
This commit is contained in:
Andrew Tridgell 2020-10-23 08:07:18 +11:00
parent 72d0730194
commit 7820b402d6
1 changed files with 6 additions and 2 deletions
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8
Tools/autotest/quadplane.py
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@ -589,6 +589,10 @@ class AutoTestQuadPlane(AutoTest):
self.takeoff(10, mode="QHOVER")
self.set_rc(3, 1800)
self.change_mode("FBWA")
# disable stall prevention to roll angle is not limited
self.set_parameter("STALL_PREVENTION", 0)
thr_min_pwm = self.get_parameter("Q_THR_MIN_PWM")
lim_roll_deg = self.get_parameter("LIM_ROLL_CD") * 0.01
self.progress("Waiting for motors to stop (transition completion)")
@ -612,10 +616,10 @@ class AutoTestQuadPlane(AutoTest):
thr_min_pwm,
timeout=30,
comparator=operator.eq)
self.set_rc(3, 1500)
self.set_rc(3, 1300)
self.context_push()
self.progress("Rolling over to %.0f degrees", -lim_roll_deg)
self.progress("Rolling over to %.0f degrees" % -lim_roll_deg)
self.set_rc(1, 1000)
self.wait_roll(-lim_roll_deg, 5)
self.progress("Killing servo outputs to force qassist to help")