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autotest: add test for angle q-assist

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Peter Barker 2020-06-30 08:06:17 +10:00 committed by Peter Barker
parent d47569ccef
commit e5395069f4
1 changed files with 17 additions and 1 deletions
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18
Tools/autotest/quadplane.py
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@ -450,10 +450,26 @@ class AutoTestQuadPlane(AutoTest):
timeout=30,
comparator=operator.eq)
self.set_rc(3, 1500)
self.context_push()
self.progress("Rolling over hard")
self.set_rc(1, 1000)
self.wait_roll(-65, 5)
self.progress("Killing servo outputs to force qassist to help")
self.set_parameter("SERVO1_MIN", 1500)
self.set_parameter("SERVO1_MAX", 1500)
self.set_parameter("SERVO1_TRIM", 1500)
self.progress("Trying ot roll over hard the other way")
self.set_rc(1, 2000)
self.progress("Waiting for qassist (angle) to kick in")
self.wait_servo_channel_value(5, 1100, timeout=30, comparator=operator.gt)
self.wait_roll(85, 5)
self.context_pop()
self.change_mode("RTL")
self.delay_sim_time(20)
self.change_mode("QRTL")
self.wait_disarmed(timeout=180)
self.wait_disarmed(timeout=300)
def tests(self):
'''return list of all tests'''