aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

autotest: add test for PSC_JERK_Z

Browse Source
This commit is contained in:
Peter Barker 2023-08-12 16:17:14 +10:00 committed by Peter Barker
parent 738a4c638a
commit f66fcb7a54
1 changed files with 13 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
Tools/autotest/arducopter.py
View File

@ -9857,6 +9857,18 @@ class AutoTestCopter(AutoTest):
self.test_rplidar("rplidara1", expected_distances)
def BrakeZ(self):
'''check jerk limit correct in Brake mode'''
self.set_parameter('PSC_JERK_Z', 3)
self.takeoff(50, mode='GUIDED')
vx, vy, vz_up = (0, 0, -1)
self.test_guided_local_velocity_target(vx=vx, vy=vy, vz_up=vz_up, timeout=10)
self.wait_for_local_velocity(vx=vx, vy=vy, vz_up=vz_up, timeout=10)
self.change_mode('BRAKE')
self.wait_for_local_velocity(vx=0, vy=0, vz_up=0, timeout=10)
self.land_and_disarm()
def tests2b(self): # this block currently around 9.5mins here
'''return list of all tests'''
ret = ([
@ -9917,6 +9929,7 @@ class AutoTestCopter(AutoTest):
self.RPLidarA1,
self.RPLidarA2,
self.SafetySwitch,
self.BrakeZ,
])
return ret