From c8fdf9305bfe5d47adda871dacc2a7a007ef1ca4 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 8 May 2020 09:58:39 +1000 Subject: [PATCH] autotest: add test for quadplane stickmixing --- Tools/autotest/quadplane.py | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py index dec9285185..7da97138a2 100644 --- a/Tools/autotest/quadplane.py +++ b/Tools/autotest/quadplane.py @@ -406,6 +406,18 @@ class AutoTestQuadPlane(AutoTest): "CPUFailsafe": "servo channel values not scaled like ArduPlane", } + def test_pilot_yaw(self): + self.takeoff(10, mode="QLOITER") + self.set_parameter("STICK_MIXING", 0) + self.set_rc(4, 1700) + for mode in "QLOITER", "QHOVER": + self.wait_heading(45) + self.wait_heading(90) + self.wait_heading(180) + self.wait_heading(275) + self.set_rc(4, 1500) + self.do_RTL() + def CPUFailsafe(self): '''In lockup Plane should copy RC inputs to RC outputs''' self.plane_CPUFailsafe() @@ -450,6 +462,10 @@ class AutoTestQuadPlane(AutoTest): ret.extend([ ("TestMotorMask", "Test output_motor_mask", self.test_motor_mask), + ("PilotYaw", + "Test pilot yaw in various modes", + self.test_pilot_yaw), + ("ParameterChecks", "Test Arming Parameter Checks", self.test_parameter_checks),