diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 05b1b253f0..540fd110bb 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -6797,8 +6797,8 @@ class AutoTestCopter(AutoTest): self.context_pop() self.reboot_sitl() - def fly_proximity_avoidance_test_corners(self): - self.start_subtest("Corners") + def AC_Avoidance_Proximity(self): + '''Test proximity avoidance slide behaviour''' self.context_push() ex = None try: @@ -6904,8 +6904,8 @@ class AutoTestCopter(AutoTest): "Distance too great (%s) (want=%s != got=%s)" % (name, wants, gots)) - def fly_proximity_avoidance_test_alt_no_avoid(self): - self.start_subtest("Alt-no-avoid") + def AC_Avoidance_Proximity_AVOID_ALT_MIN(self): + '''Test proximity avoidance with AVOID_ALT_MIN''' self.context_push() ex = None try: @@ -6983,11 +6983,6 @@ class AutoTestCopter(AutoTest): if ex is not None: raise ex - def AC_Avoidance_Proximity(self): - '''Test proximity avoidance slide behaviour''' - self.fly_proximity_avoidance_test_alt_no_avoid() - self.fly_proximity_avoidance_test_corners() - def AC_Avoidance_Fence(self): '''Test fence avoidance slide behaviour''' self.context_push() @@ -9683,6 +9678,7 @@ class AutoTestCopter(AutoTest): self.StabilityPatch, self.OBSTACLE_DISTANCE_3D, self.AC_Avoidance_Proximity, + self.AC_Avoidance_Proximity_AVOID_ALT_MIN, self.AC_Avoidance_Fence, self.AC_Avoidance_Beacon, self.BaroWindCorrection,