autotest: add a WaitAndMaintainAttitude method #31969
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tpwrules
requested changes
Jan 23, 2026
Tools/autotest/arducopter.py
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| self.arm_vehicle() | ||
| self.wait_disarmed() | ||
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| def WaitAndMaintainAttitude(self): |
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Please change the test name to not exactly match the test class.
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Good call. Fixed.
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Jan 23, 2026
Tools/autotest/vehicle_test_suite.py
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| if self.desroll is not None: | ||
| axis_progress.append(f"r={achieved_roll:.03} des-r={self.desroll}") | ||
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| if self.despitch is not None: | ||
| axis_progress.append(f"p={achieved_pitch:.3} des-p={self.despitch}") |
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These format specifiers don't make a lot of sense. They will convert the values to scientific notation above 100 degrees. Which is admittedly unlikely. In any case they should be the same on both axes!
Also unsure if it's worth abbreviating the axes, they are not abbreviated in the start text. But I don't mind either way.
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Fixed.
AT-0004.0: Waiting for roll=0 and pitch=0
AT-0004.0: r= -19.345 des-r=0 p= -17.824 des-p=0
AT-0004.0: r= 8.664 des-r=0 p= 9.096 des-p=0
AT-0004.1: r= 12.462 des-r=0 p= 11.692 des-p=0
AT-0004.1: r= 1.952 des-r=0 p= 1.725 des-p=0
.... so we can have minimum_duration which wait_attitude does not
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Looks reasonable, test passes and log makes sense.
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.... so we can have minimum_duration which wait_attitude does not