autotest: add test for angle q-assist
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@ -450,10 +450,26 @@ class AutoTestQuadPlane(AutoTest):
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timeout=30,
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comparator=operator.eq)
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self.set_rc(3, 1500)
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self.context_push()
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self.progress("Rolling over hard")
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self.set_rc(1, 1000)
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self.wait_roll(-65, 5)
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self.progress("Killing servo outputs to force qassist to help")
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self.set_parameter("SERVO1_MIN", 1500)
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self.set_parameter("SERVO1_MAX", 1500)
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self.set_parameter("SERVO1_TRIM", 1500)
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self.progress("Trying ot roll over hard the other way")
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self.set_rc(1, 2000)
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self.progress("Waiting for qassist (angle) to kick in")
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self.wait_servo_channel_value(5, 1100, timeout=30, comparator=operator.gt)
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self.wait_roll(85, 5)
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self.context_pop()
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self.change_mode("RTL")
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self.delay_sim_time(20)
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self.change_mode("QRTL")
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self.wait_disarmed(timeout=180)
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self.wait_disarmed(timeout=300)
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def tests(self):
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'''return list of all tests'''
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