Autotest: Add AutoRTL test that results in dumpstack

MattKear · Jul 19, 2024 · 0ac8ac6 · 0ac8ac6
1 parent d9518ff
commit 0ac8ac6
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Showing 2 changed files with 32 additions and 0 deletions.
diff --git a/Tools/autotest/ArduCopter_Tests/AutoRTLTest/mission.txt b/Tools/autotest/ArduCopter_Tests/AutoRTLTest/mission.txt
@@ -0,0 +1,12 @@
+QGC WPL 110
+0	1	0	16	0	0	0	0	-35.3632667	149.1652377	587.000000	1
+1	0	3	22	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	30.000000	1
+2	0	0	177	5.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
+3	0	3	189	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
+4	0	3	21	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
+5	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36321560	149.16522930	30.000000	1
+6	0	3	189	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
+7	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36318090	149.16518670	30.000000	1
+8	0	3	189	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
+9	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36321510	149.16514950	30.000000	1
+10	0	3	21	0.00000000	0.00000000	0.00000000	0.00000000	-35.36326920	149.16515480	0.000000	1
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
@@ -9714,6 +9714,25 @@ def AUTO_LAND_TO_BRAKE(self):
         self.change_mode('AUTO')
         self.wait_disarmed()
 
+    def AutoRTLTest(self):
+        '''testing an odd mission with do jumps and do land starts that has previously caused a dumpstack'''
+
+        self.load_mission('mission.txt')
+        self.customise_SITL_commandline([
+            "--home", self.sitl_home_string_from_mission("mission.txt"),
+        ])
+
+        self.set_parameter('AUTO_OPTIONS', 3)
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
+        self.wait_altitude(10, 15, relative=True, timeout=60)
+        self.change_mode('AUTO_RTL')
+
+        self.wait_disarmed()
+
+
     def MAVLandedStateTakeoff(self):
         '''check EXTENDED_SYS_STATE message'''
         ex = None
@@ -10802,6 +10821,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.MAV_CMD_SET_EKF_SOURCE_SET,
             self.MAV_CMD_NAV_TAKEOFF,
             self.MAV_CMD_NAV_TAKEOFF_command_int,
+            self.AutoRTLTest,
         ])
         return ret