autotest: add test showing throttle satuation problem

ArduPilot · May 21, 2024 · 3eaa9e3 · 3eaa9e3
1 parent 07c854d
commit 3eaa9e3
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
@@ -5340,6 +5340,13 @@ def MinThrottle(self):
         self.drain_mav()
         self.assert_servo_channel_value(3, servo_min)
 
+    def ClimbThrottleSaturation(self):
+        '''check what happens when throttle is saturated in GUIDED'''
+        self.set_parameters({
+            "TECS_CLMB_MAX": 30,
+        })
+        self.takeoff(alt=1000, mode='TAKEOFF', timeout=1000)
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestPlane, self).tests()
@@ -5449,6 +5456,7 @@ def tests(self):
             self.MAV_CMD_NAV_LOITER_UNLIM,
             self.MAV_CMD_NAV_RETURN_TO_LAUNCH,
             self.MinThrottle,
+            self.ClimbThrottleSaturation,
         ])
         return ret