From 12c54e5ee3143765a6fe58bfa942a5498e39fc84 Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Sun, 1 Dec 2024 18:16:09 -0600 Subject: [PATCH] autotest:add AUTOLAND mode test --- Tools/autotest/arduplane.py | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index fa4a0949133ff0..c025385100132c 100644 --- 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,