From 109d0215624c9df1dd6baae59f9d6c3bb3e6d61e Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 28 Aug 2024 10:11:31 +0900 Subject: [PATCH] Tools: autotest check-avoidance-corners disables proximity before RTL --- Tools/autotest/arducopter.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index d0fbc73cee7f0..963a9c2445023 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -7331,7 +7331,6 @@ def check_avoidance_corners(self): self.reach_heading_manual(225) self.wait_location(west_loc, accuracy=6, timeout=200) self.set_rc(2, 1500) - self.do_RTL() def OBSTACLE_DISTANCE_3D_test_angle(self, angle): now = self.get_sim_time_cached() @@ -7421,6 +7420,8 @@ def AC_Avoidance_Proximity(self): self.progress("Enabling proximity") self.set_rc(10, 2000) self.check_avoidance_corners() + self.set_rc(10, 1000) + self.do_RTL() self.assert_current_onboard_log_contains_message("PRX") self.assert_current_onboard_log_contains_message("PRXR") @@ -7588,6 +7589,7 @@ def AC_Avoidance_Fence(self): self.load_fence("copter-avoidance-fence.txt") self.set_parameter("FENCE_ENABLE", 1) self.check_avoidance_corners() + self.do_RTL() def AvoidanceAltFence(self): '''Test fence avoidance at minimum and maximum altitude'''