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autotest: Add catapult test #27125

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autotest: Add catapult test #27125

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13 changes: 13 additions & 0 deletions Tools/autotest/ArduPlane_Tests/CatapultTakeoff/catapult.txt
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Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.390015 1
1 0 3 22 15.000000 0.000000 0.000000 0.000000 -35.361279 149.164230 100.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361229 149.163025 100.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364563 149.163773 100.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364384 149.164795 80.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361027 149.164093 80.000000 1
6 0 0 177 2.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
7 0 3 189 0.000000 0.000000 0.000000 0.000000 -35.362915 149.162613 60.000000 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363136 149.162750 60.000000 1
9 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365467 149.164215 55.000000 1
10 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365009 149.165482 39.889999 1
11 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.363041 149.165222 0.000000 1
41 changes: 41 additions & 0 deletions Tools/autotest/arduplane.py
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Expand Up @@ -4160,6 +4160,45 @@ def LandingDrift(self):

self.wait_disarmed(timeout=180)

def CatapultTakeoff(self):
'''Test that a catapult takeoff works correctly'''

self.customise_SITL_commandline(
[],
model='plane-catapult',
defaults_filepath=self.model_defaults_filepath("plane")
)
self.set_parameters({
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"TKOFF_THR_MINACC": 3.0,
"TECS_PITCH_MAX": 35.0,
"PTCH_LIM_MAX_DEG": 35.0,
"RTL_AUTOLAND": 2, # The mission contains a DO_LAND_START item.
})

# Record desired target speed.
speed_cruise = self.get_parameter("AIRSPEED_CRUISE")

# Load and start mission.
self.load_mission("catapult.txt", strict=True)
self.change_mode('AUTO')

self.wait_ready_to_arm()
self.arm_vehicle()

# Throw the catapult.
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Suggested change
# Throw the catapult.
self.progress("Throw the catapult")

Many times when I've put a comment like this in I've found it useful to put it in as a progress text instead. Just a suggestion.

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Thanks! For now it's pretty evident (perhaps even more useful) by plotting RCOU[7]. But I'll keep that in mind.

self.set_servo(7, 2000)

# Wait until we're midway through the climb.
test_alt = 50
self.wait_altitude(test_alt, test_alt+2, relative=True)

# Ensure that by then the aircraft does not overspeed.
self.wait_airspeed(speed_cruise-2, speed_cruise+2, minimum_duration=2, timeout=4)

# Wait for landing waypoint.
self.wait_current_waypoint(11, timeout=1200)
self.wait_disarmed(120)

def DCMFallback(self):
'''Really annoy the EKF and force fallback'''
self.reboot_sitl()
Expand Down Expand Up @@ -5426,6 +5465,7 @@ def tests(self):
self.AHRS_ORIENTATION,
self.AHRSTrim,
self.LandingDrift,
self.CatapultTakeoff,
self.ForcedDCM,
self.DCMFallback,
self.MAVFTP,
Expand Down Expand Up @@ -5474,4 +5514,5 @@ def disabled_tests(self):
"LandingDrift": "Flapping test. See https://github.com/ArduPilot/ardupilot/issues/20054",
"InteractTest": "requires user interaction",
"ClimbThrottleSaturation": "requires https://github.com/ArduPilot/ardupilot/pull/27106 to pass",
"CatapultTakeoff": "Known bug. See https://github.com/ArduPilot/ardupilot/issues/27147",
}
4 changes: 4 additions & 0 deletions Tools/autotest/vehicle_test_suite.py
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Expand Up @@ -5406,6 +5406,10 @@ def set_rc(self, chan, pwm, timeout=20):
"""Setup a simulated RC control to a PWM value"""
self.set_rc_from_map({chan: pwm}, timeout=timeout)

def set_servo(self, chan, pwm):
"""Replicate the functionality of MAVProxy: servo set <ch> <pwm>"""
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_SERVO, p1=chan, p2=pwm)

def location_offset_ne(self, location, north, east):
'''move location in metres'''
print("old: %f %f" % (location.lat, location.lng))
Expand Down
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