autotest: add Ottano frame

CarbonixUAV · Dec 19, 2024 · 94fa55d · 94fa55d
1 parent 5d35fdd
commit 94fa55d
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Showing 2 changed files with 18 additions and 0 deletions.
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
@@ -3998,6 +3998,18 @@ def FlyEachFrame(self):
             if scripts:
                 self.reboot_sitl()
 
+            # XXX: Carbonix changes to get ottano to pass
+            # FlyEachFrame assumes these parameters are not set
+            self.set_parameters({
+                "ARMING_CHECK": -147458,    # disable mission check
+                "FENCE_AUTOENABLE": 0,      # disable fences
+                "FENCE_ENABLE": 0,
+                "FS_GCS_ENABL": 0,          # disable GCS failsafe
+                "TERRAIN_FOLLOW": 0,        # disable terrain follow (causes prearm fail; terrain requests require extra steps)
+                "LOG_DISARMED": 1,          # log disarmed
+            })
+            self.change_mode("FBWA")        # ensure we are in an armable mode
+
             self.wait_ready_to_arm()
             self.arm_vehicle()
             self.fly_mission(mission_file, strict=False, quadplane=quadplane, mission_timeout=400.0)

diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py
@@ -274,6 +274,12 @@ def __init__(self):
                 "waf_target": "bin/arduplane",
                 "default_params_filename": "default_params/firefly.parm",
             },
+            "ottano": {
+                "waf_target": "bin/arduplane",
+                "model": "quadplane:@ROMFS/models/Ottano.json",
+                "default_params_filename": "../../build/ottano-headless.parm",
+                "scripts": ["../../libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/*.lua"],
+            },
             "plane-elevon": {
                 "waf_target": "bin/arduplane",
                 "default_params_filename": ["models/plane.parm", "default_params/plane-elevons.parm"],