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Rover: Allow fractional RTL_SPEEDs #27002

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merged 2 commits into from
May 7, 2024
Merged

Rover: Allow fractional RTL_SPEEDs #27002

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a031780
autotest: add test for Rover RTL speed
peterbarker May 7, 2024
35449e7
Rover: correct clamping of RTL_SPEED parameter
peterbarker May 7, 2024
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2 changes: 1 addition & 1 deletion Rover/mode_rtl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@ bool ModeRTL::_enter()
}

// initialise waypoint navigation library
g2.wp_nav.init(MAX(0, g2.rtl_speed));
g2.wp_nav.init(MAX(0.0f, g2.rtl_speed));

// set target to the closest rally point or home
#if HAL_RALLY_ENABLED
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22 changes: 22 additions & 0 deletions Tools/autotest/rover.py
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Original file line number Diff line number Diff line change
Expand Up @@ -525,6 +525,27 @@ def DriveRTL(self, timeout=120):
self.disarm_vehicle()
self.progress("RTL Mission OK (%fm)" % home_distance)

def RTL_SPEED(self, timeout=120):
'''Test RTL_SPEED is honoured'''

self.upload_simple_relhome_mission([
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 300, 0, 0),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 1000, 0, 0),
])

self.wait_ready_to_arm()
self.arm_vehicle()

self.change_mode('AUTO')
self.wait_current_waypoint(2, timeout=120)
for speed in 1, 5.5, 1.5, 7.5:
self.set_parameter("RTL_SPEED", speed)
self.change_mode('RTL')
self.wait_groundspeed(speed-0.1, speed+0.1, minimum_duration=10)
self.change_mode('HOLD')
self.do_RTL()
self.disarm_vehicle()

def AC_Avoidance(self):
'''Test AC Avoidance switch'''
self.context_push()
Expand Down Expand Up @@ -6814,6 +6835,7 @@ def tests(self):
self.MAV_CMD_BATTERY_RESET,
self.NetworkingWebServer,
self.NetworkingWebServerPPP,
self.RTL_SPEED,
])
return ret

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