From 0801e65423cc3cdf0c7c3dbb76355a38a2d53359 Mon Sep 17 00:00:00 2001 From: Michelle Rossouw Date: Fri, 20 Dec 2024 22:17:06 +1100 Subject: [PATCH] autotest: Added Copter Smart RTL repeat detection test --- Tools/autotest/arducopter.py | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 372bd1b7dab97..2f2a9ca811c55 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -9976,6 +9976,15 @@ def SMART_RTL_EnterLeave(self): self.change_mode('ALT_HOLD') self.change_mode('SMART_RTL') + def SMART_RTL_Repeat(self): + '''Test whether Smart RTL catches the repeat''' + self.takeoff(alt_min=10, mode='GUIDED') + self.set_rc(3, 1500) + self.change_mode("CIRCLE") + self.delay_sim_time(1300) + self.change_mode("SMART_RTL") + self.wait_disarmed() + def GPSForYawCompassLearn(self): '''Moving baseline GPS yaw - with compass learning''' self.context_push() @@ -12299,6 +12308,7 @@ def tests2b(self): # this block currently around 9.5mins here self.AP_Avoidance, self.SMART_RTL, self.SMART_RTL_EnterLeave, + self.SMART_RTL_Repeat, self.RTL_TO_RALLY, self.FlyEachFrame, self.GPSBlending, @@ -12461,6 +12471,7 @@ def disabled_tests(self): "GPSForYawCompassLearn": "Vehicle currently crashed in spectacular fashion", "CompassMot": "Cuases an arithmetic exception in the EKF", "SMART_RTL_EnterLeave": "Causes a panic", + "SMART_RTL_Repeat": "Currently fails due to issue with loop detection", }