From 94fa55ddeeb301de629917995d5fc8ec3a0fa456 Mon Sep 17 00:00:00 2001 From: Bob Long Date: Thu, 19 Dec 2024 16:35:04 +1100 Subject: [PATCH] autotest: add Ottano frame --- Tools/autotest/arduplane.py | 12 ++++++++++++ Tools/autotest/pysim/vehicleinfo.py | 6 ++++++ 2 files changed, 18 insertions(+) diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index 43b52783f3..83a2efca9c 100644 --- 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 index 0bba801933..f263eb91a9 100644 --- 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"],