Plane: backport takeoff fix PR 28792 #28901
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This one is failing CI so I didn't include it in 4.6.0-beta3. I tried to restart it but somehow couldn't find the "restarted failed jobs" button in CI |
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I don't have rights to restart jobs. And I guess a re-base isn't an option in this case. Any suggestions? But it's |
Georacer
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Jan 22, 2025
Tools/autotest/arduplane.py
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| def TakeoffIdleThrottle(self): | ||
| '''Apply idle throttle before takeoff.''' | ||
| self.customise_SITL_commandline( | ||
| [], | ||
| model='plane-catapult', | ||
| defaults_filepath=self.model_defaults_filepath("plane") | ||
| ) | ||
| self.set_parameters({ | ||
| "TKOFF_THR_IDLE": 20.0, | ||
| "TKOFF_THR_MINSPD": 3.0, | ||
| }) | ||
| self.change_mode("TAKEOFF") | ||
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| self.wait_ready_to_arm() | ||
| self.arm_vehicle() | ||
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| # Ensure that the throttle rises to idle throttle. | ||
| expected_idle_throttle = 1000+10*self.get_parameter("TKOFF_THR_IDLE") | ||
| self.assert_servo_channel_range(3, expected_idle_throttle-10, expected_idle_throttle+10) | ||
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| # Launch the catapult | ||
| self.set_servo(6, 1000) | ||
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| self.delay_sim_time(5) | ||
| self.change_mode('RTL') | ||
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| self.fly_home_land_and_disarm() |
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This test was apparently accidentally brought in.
It refers to #28351, which is a feature not backported to 4.6.
When an airspeed sensor is not used, during a takeoff, the pitch angle is asymptotically driven to 0 as the takeoff altitude is approached. Some airplanes will then stop climbing and fail to reach altitude. To prevent an indefinite wait for the takeoff altitude to be reached, a dedicated level-off timeout has been introduced.
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@Georacer I've removed the bad test, thanks |
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back port of #28792