autotest: assert fence breach while flying only

ArduPilot · Dec 22, 2023 · 5d55085 · 5d55085
1 parent 340634a
commit 5d55085
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
@@ -1675,11 +1675,14 @@ def FenceFloorEnabledLanding(self):
         self.set_rc(3, 1800)
 
         self.wait_mode('RTL', timeout=120)
+        # Assert fence is not healthy now that we are in RTL
+        self.assert_sensor_state(fence_bit, healthy=False)
+
         self.wait_landed_and_disarmed()
         self.assert_fence_enabled()
 
-        # Assert fence is not healthy
-        self.assert_sensor_state(fence_bit, healthy=False)
+        # Assert fence is healthy now that we have landed disarmed
+        self.assert_sensor_state(fence_bit, healthy=True)
 
         # Disable the fence using mavlink command to ensure cleaned up SITL state
         self.do_fence_disable()