autotest: fix fence autotests

add Plane.FenceMinAltEnableAutoland

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
@@ -1762,8 +1762,6 @@ 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
@@ -11679,7 +11677,6 @@ 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

@@ -3739,6 +3739,49 @@ 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({
@@ -5712,6 +5755,7 @@ def tests(self):
             self.FenceRetRally,
             self.FenceAltCeilFloor,
             self.FenceMinAltAutoEnable,
+            self.FenceMinAltEnableAutoland,
             self.FenceMinAltAutoEnableAbort,
             self.FenceAutoEnableDisableSwitch,
             self.FenceEnableDisableSwitch,