From 5e2f19e02759077f70f8dcd72ae5a8364f57156e Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 29 Sep 2024 09:15:28 +1000 Subject: [PATCH] autotest: improved GliderPullup test use LOITER_TO_ALT and a landing, allowing for a much better test of the full glider pullup mission --- .../GliderPullup/glider-pullup-mission.txt | 5 ++++- Tools/autotest/arduplane.py | 8 ++++---- Tools/autotest/default_params/glider.parm | 2 +- 3 files changed, 9 insertions(+), 6 deletions(-) diff --git a/Tools/autotest/ArduPlane_Tests/GliderPullup/glider-pullup-mission.txt b/Tools/autotest/ArduPlane_Tests/GliderPullup/glider-pullup-mission.txt index 52c5718544123f..ce1c97ab9b8619 100644 --- a/Tools/autotest/ArduPlane_Tests/GliderPullup/glider-pullup-mission.txt +++ b/Tools/autotest/ArduPlane_Tests/GliderPullup/glider-pullup-mission.txt @@ -1,3 +1,6 @@ QGC WPL 110 0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.000000 1 -1 0 0 83 2000.000000 10.000000 30.000000 0.000000 0.000000 0.000000 0.000000 1 +1 0 0 83 5700.000000 10.000000 30.000000 0.000000 0.000000 0.000000 0.000000 1 +2 0 3 31 0.000000 0.000000 0.000000 0.000000 -35.413030 149.172036 1500.000000 1 +3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.391115 149.169040 250.000000 1 +4 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.362803 149.165169 0.000000 1 diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index e018578678ef08..37d9dc7021da30 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -6198,14 +6198,14 @@ def GliderPullup(self): self.progress("Start balloon lift") self.set_servo(6, 2000) - self.wait_text("Reached altitude", check_context=True, timeout=300) + self.wait_text("Reached altitude", check_context=True, timeout=1000) self.wait_text("Start pullup airspeed", check_context=True) self.wait_text("Pullup airspeed", check_context=True) self.wait_text("Pullup pitch", check_context=True) self.wait_text("Pullup level", check_context=True) - self.wait_text("Mission complete, changing mode to RTL", check_context=True) - - self.fly_home_land_and_disarm(timeout=400) + self.wait_text("Loiter to alt complete", check_context=True, timeout=1000) + self.wait_text("Flare", check_context=True, timeout=400) + self.wait_text("Auto disarmed", check_context=True, timeout=200) def BadRollChannelDefined(self): '''ensure we don't die with a bad Roll channel defined''' diff --git a/Tools/autotest/default_params/glider.parm b/Tools/autotest/default_params/glider.parm index 2a8a7c57d86e77..a64d9686edb83a 100644 --- a/Tools/autotest/default_params/glider.parm +++ b/Tools/autotest/default_params/glider.parm @@ -36,7 +36,7 @@ ARSPD_USE 1 HOME_RESET_ALT -1 TECS_INTEG_GAIN 0.25 -TECS_SPDWEIGHT 2 +TECS_SPDWEIGHT 1.7 # allow some altitude control TECS_PTCH_DAMP 0.6 TECS_SINK_MAX 8.5 TECS_PITCH_MAX 10