autotest:add AUTOLAND mode test

ArduPilot · Dec 2, 2024 · 7703f85 · 7703f85
1 parent 669f305
commit 7703f85
Showing 1 changed file with 14 additions and 0 deletions.
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
@@ -4200,6 +4200,17 @@ 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.context_collect('STATUSTEXT')
+        self.takeoff(alt=80, mode='TAKEOFF')
+        self.wait_text("Takeoff initial direction", check_context=True)
+        self.change_mode(26)
+        self.wait_disarmed(120)
+        self.progress("Check the landed heading matches takeoff")
+        self.wait_heading(173, accuracy=5, timeout=1)
+
     def RCDisableAirspeedUse(self):
         '''Test RC DisableAirspeedUse option'''
         self.set_parameter("RC9_OPTION", 106)
@@ -5847,6 +5858,8 @@ def DO_PARACHUTE(self):
 
     def _MAV_CMD_DO_GO_AROUND(self, command):
         self.load_mission("mission.txt")
+        self.context_collect('STATUSTEXT')
+        self.takeoff(mode='TAKEOFF')
         self.set_parameter("RTL_AUTOLAND", 3)
         self.change_mode('AUTO')
         self.wait_ready_to_arm()
@@ -6404,6 +6417,7 @@ def tests1b(self):
             self.MAV_CMD_DO_AUX_FUNCTION,
             self.SmartBattery,
             self.FlyEachFrame,
+            self.AutoLandMode,
             self.RCDisableAirspeedUse,
             self.AHRS_ORIENTATION,
             self.AHRSTrim,