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autotest: add test for DO_CHANGE_SPEED

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Peter Barker 2022-02-12 18:30:24 +11:00 committed by Peter Barker
parent 14c9d4e6a3
commit dc312260de
2 changed files with 51 additions and 0 deletions
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11
Tools/autotest/ArduCopter_Tests/DO_CHANGE_SPEED/mission.txt Normal file
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@ -0,0 +1,11 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.090027 1
1 0 3 22 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 20.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.362656 149.165072 20.000000 1
3 0 0 178 1.000000 15.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.360174 149.167908 14.000000 1
5 0 0 178 1.000000 10.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363296 149.169244 18.000000 1
7 0 0 178 1.000000 17.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364115 149.165747 20.000000 1
9 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1

40
Tools/autotest/arducopter.py
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@ -7744,6 +7744,42 @@ class AutoTestCopter(AutoTest):
self.wait_disarmed() self.wait_disarmed()
def DO_CHANGE_SPEED(self):
self.load_mission("mission.txt", strict=False)
self.set_parameters({
"AUTO_OPTIONS": 3,
"ANGLE_MAX": 4500,
})
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_current_waypoint(2)
self.wait_groundspeed(
14.5, 15.5,
minimum_duration=10,
timeout=60,
)
self.wait_current_waypoint(4)
self.wait_groundspeed(
9.5, 11.5,
minimum_duration=10,
timeout=60,
)
self.set_parameter("ANGLE_MAX", 6000)
self.wait_current_waypoint(6)
self.wait_groundspeed(
16.5, 18.5,
minimum_duration=10,
timeout=60,
)
self.wait_disarmed()
# a wrapper around all the 1A,1B,1C..etc tests for travis # a wrapper around all the 1A,1B,1C..etc tests for travis
def tests1(self): def tests1(self):
ret = ([]) ret = ([])
@ -8443,6 +8479,10 @@ class AutoTestCopter(AutoTest):
"Test EKF's handling of takeoff-expected", "Test EKF's handling of takeoff-expected",
self.GroundEffectCompensation_takeOffExpected), self.GroundEffectCompensation_takeOffExpected),
Test("DO_CHANGE_SPEED",
"Change speed during misison using waypoint items",
self.DO_CHANGE_SPEED),
Test("WPNAV_SPEED", Test("WPNAV_SPEED",
"Change speed during misison", "Change speed during misison",
self.WPNAV_SPEED), self.WPNAV_SPEED),