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AC_WPNav: correct calculation of predict-accel when zeroing pilot desired accel #27450

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Jul 9, 2024
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AC_WPNav: correct calculation of predict-accel when zeroing pilot desired accel #27450

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649f985
autotest: add test for entering loiter after auto in RC failsafe
peterbarker Jul 4, 2024
646ea6c
AC_WPNav: correct calculation of predict-accel when zeroing pilot des…
peterbarker Jul 4, 2024
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30 changes: 30 additions & 0 deletions Tools/autotest/arducopter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11552,6 +11552,35 @@ def REQUIRE_POSITION_FOR_ARMING(self):
self.context_pop()
self.reboot_sitl()

def AutoContinueOnRCFailsafe(self):
'''check LOITER when entered after RC failsafe is ignored in auto'''
self.set_parameters({
"FS_OPTIONS": 1, # 1 is "RC continue if in auto"
})

self.upload_simple_relhome_mission([
# N E U
(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 10),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 20, 0, 10),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 40, 0, 10),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 60, 0, 10),
])

self.takeoff(mode='LOITER')
self.set_rc(1, 1200)
self.delay_sim_time(1) # build up some pilot desired stuff
self.change_mode('AUTO')
self.wait_waypoint(2, 2)
self.set_parameters({
'SIM_RC_FAIL': 1,
})
# self.set_rc(1, 1500) # note we are still in RC fail!
self.wait_waypoint(3, 3)
self.assert_mode_is('AUTO')
self.change_mode('LOITER')
self.wait_groundspeed(0, 0.1, minimum_duration=30, timeout=450)
self.do_RTL()

def tests2b(self): # this block currently around 9.5mins here
'''return list of all tests'''
ret = ([
Expand Down Expand Up @@ -11605,6 +11634,7 @@ def tests2b(self): # this block currently around 9.5mins here
self.WatchAlts,
self.GuidedEKFLaneChange,
self.Sprayer,
self.AutoContinueOnRCFailsafe,
self.EK3_RNG_USE_HGT,
self.TerrainDBPreArm,
self.ThrottleGainBoost,
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4 changes: 3 additions & 1 deletion libraries/AC_WPNav/AC_Loiter.h
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Expand Up @@ -33,7 +33,9 @@ class AC_Loiter
Vector2f get_pilot_desired_acceleration() const { return Vector2f{_desired_accel.x, _desired_accel.y}; }

/// clear pilot desired acceleration
void clear_pilot_desired_acceleration() { _desired_accel.zero(); }
void clear_pilot_desired_acceleration() {
set_pilot_desired_acceleration(0, 0);
}

/// get vector to stopping point based on a horizontal position and velocity
void get_stopping_point_xy(Vector2f& stopping_point) const;
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