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AutoTest: Ensure fence state is disabled at end of test

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This appears to be another case of the fence state carrying over from one test to another. Disabling the fence at the end of the test appears to have fixed this problem
This commit is contained in:
James O'Shannessy 2021-02-21 14:56:36 +11:00 committed by Peter Barker
parent 31462418c6
commit e16bbe6e18
1 changed files with 12 additions and 8 deletions
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20
Tools/autotest/arducopter.py
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@ -1307,7 +1307,6 @@ class AutoTestCopter(AutoTest):
# enable fence, disable avoidance
self.set_parameter("FENCE_ENABLE", 1)
self.set_parameter("FENCE_AUTOENABLE", 1)
self.set_parameter("AVOID_ENABLE", 0)
self.set_parameter("FENCE_TYPE", 1)
@ -1344,8 +1343,6 @@ class AutoTestCopter(AutoTest):
self.wait_mode('LOITER')
# enable fence, disable avoidance
self.set_parameter("FENCE_ENABLE", 1)
self.set_parameter("FENCE_AUTOENABLE", 1)
self.set_parameter("AVOID_ENABLE", 0)
self.set_parameter("FENCE_TYPE", 8)
self.set_parameter("FENCE_ALT_MIN", 20)
@ -1377,6 +1374,9 @@ class AutoTestCopter(AutoTest):
self.wait_rtl_complete()
# Disable the fence using mavlink command to ensure cleaned up SITL state
self.do_fence_disable()
self.zero_throttle()
def fly_fence_autoenable_always_disabled(self):
@ -1396,7 +1396,7 @@ class AutoTestCopter(AutoTest):
# Fence disables at start of landing, check fence is disabled
self.assert_fence_disabled()
self.wait_landed_and_disarmed()
self.context_pop()
def fly_fence_autoenable_always_after_takeoff(self):
@ -1415,7 +1415,7 @@ class AutoTestCopter(AutoTest):
# Fence disables at start of landing, check fence is disabled
self.assert_fence_disabled()
self.wait_landed_and_disarmed()
self.context_pop()
def fly_fence_autoenable_after_takeoff_disable_floor_on_land(self):
@ -1446,7 +1446,7 @@ class AutoTestCopter(AutoTest):
# Fence enables on arming, check fence is enabled
self.assert_fence_enabled()
self.disarm_vehicle(force=True)
# Fence disables on disarm, check fence is disabled
self.assert_fence_disabled()
@ -1499,6 +1499,10 @@ class AutoTestCopter(AutoTest):
# Assert fence is not healthy
self.assert_sensor_state(fence_bit, healthy=False)
# Disable the fence using mavlink command to ensure cleaned up SITL state
self.do_fence_disable()
self.assert_fence_disabled()
def fly_gps_glitch_loiter_test(self, timeout=30, max_distance=20):
"""fly_gps_glitch_loiter_test. Fly south east in loiter and test
reaction to gps glitch."""
@ -6645,7 +6649,7 @@ class AutoTestCopter(AutoTest):
("MinAltFence",
"Test Min Alt Fence",
self.fly_alt_min_fence_test), #26s
self.fly_alt_min_fence_test), # 26s
("FenceAutoEnable",
"Test Fence Auto-Enable conditions",
@ -6657,7 +6661,7 @@ class AutoTestCopter(AutoTest):
("AutoTuneSwitch",
"Fly AUTOTUNE on a switch",
self.fly_autotune_switch), #105s
self.fly_autotune_switch), # 105s
("GPSGlitchLoiter",
"GPS Glitch Loiter Test",