autotest:add AUTOLAND mode test

ArduPilot · Dec 2, 2024 · 12c54e5 · 12c54e5
1 parent ec29a9d
commit 12c54e5
Showing 1 changed file with 15 additions and 2 deletions.
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
@@ -4200,6 +4200,19 @@ def FlyEachFrame(self):
             self.fly_mission(mission_file, strict=False, quadplane=quadplane, mission_timeout=400.0)
             self.wait_disarmed()
 
+    def AutoLandMode(self):
+        '''Test AUTOLAND mode'''
+        self.customise_SITL_commandline(["--home", "-35.362938,149.165085,585,173"])
+        self.change_mode("TAKEOFF")
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.wait_text("Takeoff initial direction")
+        self.wait_altitude(15, 20, relative=True)
+        self.change_mode(26)
+        self.wait_disarmed(120)
+        self.progress("Check the landed heading matches takeoff")
+        self.wait_heading(173, accuracy=10, timeout=1)
+
     def RCDisableAirspeedUse(self):
         '''Test RC DisableAirspeedUse option'''
         self.set_parameter("RC9_OPTION", 106)
@@ -4430,7 +4443,6 @@ def TakeoffAuto2(self):
         - TKOFF_OPTIONS[0]=0
         - TKOFF_THR_MAX > THR_MAX
         '''
-
         self.customise_SITL_commandline(
             [],
             model='plane-catapult',
@@ -4567,7 +4579,7 @@ def TakeoffAuto4(self):
         self.set_servo(7, 2000)
 
         # Ensure that TKOFF_THR_MAX_T is respected.
-        self.delay_sim_time(self.get_parameter("TKOFF_THR_MAX_T")-1)
+        delay_sim_time(self.get_parameter("TKOFF_THR_MAX_T")-1)
         target_throttle = 1000+10*(self.get_parameter("TKOFF_THR_MAX"))
         self.assert_servo_channel_range(3, target_throttle-10, target_throttle+10)
 
@@ -6404,6 +6416,7 @@ def tests1b(self):
             self.MAV_CMD_DO_AUX_FUNCTION,
             self.SmartBattery,
             self.FlyEachFrame,
+            self.AutoLandMode,
             self.RCDisableAirspeedUse,
             self.AHRS_ORIENTATION,
             self.AHRSTrim,