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Added failsafe test

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This commit is contained in:
Jason Short 2012-01-06 10:22:13 -08:00
parent 98f9a5f237
commit c1314bc814
1 changed files with 36 additions and 0 deletions
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36
Tools/autotest/arducopter.py
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@ -177,6 +177,32 @@ def fly_RTL(mavproxy, mav, side=60):
return True return True
return True return True
def fly_failsafe(mavproxy, mav, side=60):
'''Fly, Failsafe, return, land'''
mavproxy.send('switch 6\n')
wait_mode(mav, 'STABILIZE')
mavproxy.send('rc 3 1430\n')
failed = False
print("# Going forward %u meters" % side)
mavproxy.send('rc 2 1350\n')
if not wait_distance(mav, side, 5, 60):
failed = True
mavproxy.send('rc 2 1500\n')
print("# Enter Failsafe")
mavproxy.send('rc 3 900\n')
tstart = time.time()
while time.time() < tstart + 120:
m = mav.recv_match(type='VFR_HUD', blocking=True)
pos = current_location(mav)
#delta = get_distance(start, pos)
print("Alt: %u" % m.alt)
if(m.alt <= 1):
mavproxy.send('rc 3 1100\n')
return True
return True
def fly_simple(mavproxy, mav, side=60, timeout=120): def fly_simple(mavproxy, mav, side=60, timeout=120):
'''fly Simple, flying N then E''' '''fly Simple, flying N then E'''
@ -399,6 +425,16 @@ def fly_ArduCopter(viewerip=None):
print("takeoff failed") print("takeoff failed")
failed = True failed = True
print("# Test Failsafe")
if not fly_failsafe(mavproxy, mav):
print("FS failed")
failed = True
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
print("takeoff failed")
failed = True
# Loiter for 30 seconds # Loiter for 30 seconds
print("# Loiter for 30 seconds") print("# Loiter for 30 seconds")
if not loiter(mavproxy, mav, 30): if not loiter(mavproxy, mav, 30):