autotest:add AUTOLAND mode test

ArduPilot · Dec 2, 2024 · aa3cac5 · aa3cac5
1 parent ec29a9d
commit aa3cac5
Showing 1 changed file with 17 additions and 3 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 +4443,7 @@ def TakeoffAuto2(self):
         - TKOFF_OPTIONS[0]=0
         - TKOFF_THR_MAX > THR_MAX
         '''
-
+        
         self.customise_SITL_commandline(
             [],
             model='plane-catapult',
@@ -5475,7 +5488,7 @@ def MissionJumpTags_missing_jump_target(self, target_system=1, target_component=
             want_result=mavutil.mavlink.MAV_RESULT_FAILED
         )
         self.progress("Checking correct tag behaviour")
-        self.run_cmd(
+       +         self.run_cmd(
             mavutil.mavlink.MAV_CMD_DO_JUMP_TAG,
             p1=jump_target,
         )
@@ -6282,7 +6295,7 @@ def GliderPullup(self):
         self.load_mission("glider-pullup-mission.txt")
         self.change_mode("AUTO")
         self.wait_ready_to_arm()
-        self.arm_vehicle()
+        self.a+        rm_vehicle()
         self.context_collect('STATUSTEXT')
 
         self.progress("Start balloon lift")
@@ -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,