autotest: fix fence autotests

add Plane.FenceMinAltEnableAutoland
test that vehicle can be landed manually after descending below fence floor

Tools/autotest/arducopter.py

@@ -1417,7 +1417,7 @@ def fly_fence_avoid_test_radius_check(self, timeout=180, avoid_behave=avoid_beha
         self.wait_altitude(10, 100, relative=True)
         self.set_rc(3, 1500)
         self.set_rc(2, 1400)
-        self.wait_distance_to_home(12, 20)
+        self.wait_distance_to_home(12, 20, timeout=30)
         tstart = self.get_sim_time()
         push_time = 70 # push against barrier for 60 seconds
         failed_max = False
@@ -1476,7 +1476,7 @@ def HorizontalFence(self, timeout=180):
         self.load_fence("fence-in-middle-of-nowhere.txt")
 
         self.delay_sim_time(5) # let fence check run so it loads-from-eeprom
-        self.assert_prearm_failure("vehicle outside fence")
+        self.assert_prearm_failure("vehicle outside Polygon fence")
         self.progress("Failed to arm outside fence (good!)")
         self.clear_fence()
         self.delay_sim_time(5) # let fence breach clear
@@ -1486,7 +1486,7 @@ def HorizontalFence(self, timeout=180):
         self.start_subtest("ensure we can't arm with bad radius")
         self.context_push()
         self.set_parameter("FENCE_RADIUS", -1)
-        self.assert_prearm_failure("Invalid FENCE_RADIUS value")
+        self.assert_prearm_failure("Invalid Circle FENCE_RADIUS value")
         self.context_pop()
         self.progress("Failed to arm with bad radius")
         self.drain_mav()
@@ -1704,14 +1704,14 @@ def FenceFloorEnabledLanding(self):
             "AVOID_ENABLE": 0,
             "FENCE_ENABLE" : 1,
             "FENCE_TYPE": 15,
-            "FENCE_ALT_MIN": 10,
-            "FENCE_ALT_MAX": 20,
+            "FENCE_ALT_MIN": 20,
+            "FENCE_ALT_MAX": 30,
         })
 
         self.change_mode("GUIDED")
         self.wait_ready_to_arm()
         self.arm_vehicle()
-        self.user_takeoff(alt_min=15)
+        self.user_takeoff(alt_min=25)
 
         # Check fence is enabled
         self.do_fence_enable()
@@ -1723,8 +1723,19 @@ def FenceFloorEnabledLanding(self):
         self.set_rc(3, 1800)
 
         self.wait_mode('RTL', timeout=120)
+        # center throttle
+        self.set_rc(3, 1500)
 
-        self.wait_landed_and_disarmed()
+        # wait until we are below the fence floor and re-enter loiter
+        self.wait_altitude(5, 15, relative=True)
+        self.change_mode('LOITER')
+        # wait for manual recovery to expire
+        self.delay_sim_time(15)
+
+        # lower throttle and try and land
+        self.set_rc(3, 1300)
+        self.wait_altitude(0, 2, relative=True)
+        self.wait_disarmed()
         self.assert_fence_enabled()
 
         # Assert fence is not healthy since it was enabled manually
@@ -1762,8 +1773,6 @@ def FenceFloorAutoDisableLanding(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(0)
         # the breach should have cleared since we auto-disable the
@@ -11839,7 +11848,6 @@ def tests(self):
     def disabled_tests(self):
         return {
             "Parachute": "See https://github.com/ArduPilot/ardupilot/issues/4702",
-            "HorizontalAvoidFence": "See https://github.com/ArduPilot/ardupilot/issues/11525",
             "AltEstimation": "See https://github.com/ArduPilot/ardupilot/issues/15191",
             "GroundEffectCompensation_takeOffExpected": "Flapping",
             "GroundEffectCompensation_touchDownExpected": "Flapping",

Tools/autotest/arduplane.py

@@ -1602,7 +1602,7 @@ def FenceStatic(self):
             self.delay_sim_time(2) # Allow breach to propagate
             self.assert_fence_enabled()
 
-            self.try_arm(False, "vehicle outside fence")
+            self.try_arm(False, "vehicle outside Min Alt fence")
             self.do_fence_disable()
             self.set_parameter("FENCE_ALT_MIN", default_fence_alt_min)
 
@@ -1625,7 +1625,7 @@ def FenceStatic(self):
             self.do_fence_enable()
             self.assert_fence_enabled()
             self.delay_sim_time(2) # Allow breach to propagate
-            self.try_arm(False, "vehicle outside fence")
+            self.try_arm(False, "vehicle outside Polygon fence")
             self.do_fence_disable()
             self.clear_fence()
 
@@ -1648,7 +1648,7 @@ def FenceStatic(self):
             self.do_fence_enable()
             self.assert_fence_enabled()
             self.delay_sim_time(2) # Allow breach to propagate
-            self.try_arm(False, "vehicle outside fence")
+            self.try_arm(False, "vehicle outside Polygon fence")
             self.do_fence_disable()
             self.clear_fence()
 
@@ -3772,6 +3772,49 @@ def FenceMinAltAutoEnable(self):
             self.set_current_waypoint(0, check_afterwards=False)
             self.set_rc(3, 1000)    # lower throttle
 
+    def FenceMinAltEnableAutoland(self):
+        '''Tests autolanding when alt min fence is enabled'''
+        self.set_parameters({
+            "FENCE_TYPE": 12,     # Set fence type to min alt and max alt
+            "FENCE_ACTION": 1,   # Set action to RTL
+            "FENCE_ALT_MIN": 20,
+            "FENCE_AUTOENABLE": 0,
+            "FENCE_ENABLE" : 1,
+            "RTL_AUTOLAND" : 2,
+        })
+
+        # Grab Home Position
+        self.mav.recv_match(type='HOME_POSITION', blocking=True)
+        self.homeloc = self.mav.location()
+
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
+        self.takeoff(alt=50, mode='TAKEOFF')
+        self.change_mode("FBWA")
+        self.set_rc(3, 1100)    # lower throttle
+
+        self.progress("Waiting for RTL")
+        tstart = self.get_sim_time()
+        mode = "RTL"
+        while not self.mode_is(mode, drain_mav=False):
+            self.mav.messages['HEARTBEAT'].custom_mode
+            self.progress("mav.flightmode=%s Want=%s Alt=%f" % (
+                self.mav.flightmode, mode, self.get_altitude(relative=True)))
+            if (self.get_sim_time_cached() > tstart + 120):
+                raise WaitModeTimeout("Did not change mode")
+        self.progress("Got mode %s" % mode)
+        # switch to FBWA
+        self.change_mode("FBWA")
+        self.set_rc(3, 1500)    # raise throttle
+        self.wait_altitude(25, 35, timeout=50, relative=True)
+        self.set_rc(3, 1000)    # lower throttle
+        # Now check we can land
+        self.fly_home_land_and_disarm()
+        self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL)
+        self.set_current_waypoint(0, check_afterwards=False)
+        self.set_rc(3, 1000)    # lower throttle
+
     def FenceMinAltAutoEnableAbort(self):
         '''Tests autoenablement of the alt min fence and fences on arming'''
         self.set_parameters({
@@ -5756,6 +5799,7 @@ def tests(self):
             self.FenceRetRally,
             self.FenceAltCeilFloor,
             self.FenceMinAltAutoEnable,
+            self.FenceMinAltEnableAutoland,
             self.FenceMinAltAutoEnableAbort,
             self.FenceAutoEnableDisableSwitch,
             self.FenceEnableDisableSwitch,

Tools/autotest/rover.py

@@ -6864,10 +6864,10 @@ def MissionPolyEnabledPreArm(self):
             ]
         )
 
-        self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False)
+        self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False)
         self.reboot_sitl()
 
-        self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
+        self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False, timeout=120)
 
         self.progress("Ensure we can arm when a polyfence fence is cleared when we've previously been in breach")
         self.clear_fence()
@@ -6885,7 +6885,7 @@ def MissionPolyEnabledPreArm(self):
             ]
         )
         self.reboot_sitl()
-        self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
+        self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False, timeout=120)
         self.clear_fence()
         self.wait_ready_to_arm()
 
@@ -6901,11 +6901,11 @@ def MissionPolyEnabledPreArm(self):
                 ]
             ]
         )
-        self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
+        self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False, timeout=120)
         self.set_parameter('FENCE_TYPE', 2)
         self.wait_ready_to_arm()
         self.set_parameter('FENCE_TYPE', 6)
-        self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
+        self.assert_prearm_failure('vehicle outside Polygon fence', other_prearm_failures_fatal=False, timeout=120)
 
     def OpticalFlow(self):
         '''lightly test OpticalFlow'''