Autotest: helicopter: fixup

MattKear · Sep 3, 2024 · 29684aa · 29684aa
1 parent ec61b4c
commit 29684aa
Showing 1 changed file with 8 additions and 3 deletions.
diff --git a/Tools/autotest/helicopter.py b/Tools/autotest/helicopter.py
@@ -304,11 +304,11 @@ def SplineWaypoint(self, timeout=600):
 
     def AutoRotation(self, timeout=600):
         """Check engine-out behaviour"""
+        self.context_push()
         start_alt = 100 # metres
         self.set_parameters({
             "AROT_ENABLE": 1,
             "H_RSC_AROT_ENBL": 1,
-            "PILOT_TKOFF_ALT": start_alt * 100,
         })
         self.change_mode('POSHOLD')
         self.set_rc(3, 1000)
@@ -346,7 +346,12 @@ def AutoRotation(self, timeout=600):
         speed = float(self.re_match.group(1))
         if speed > 30:
             raise NotAchievedException("Hit too hard")
+
+        # Set throttle low to trip auto disarm
+        self.set_rc(3, 1000)
+
         self.wait_disarmed()
+        self.context_pop()
 
     def ManAutoRotation(self, timeout=600):
         """Check autorotation power recovery behaviour"""
@@ -381,8 +386,6 @@ def TestAutoRotationConfig(self, arot_ramp_time, arot_idle):
             RUNUP_TIME = 15
             AROT_RUNUP_TIME = arot_ramp_time + 4
             RSC_SETPOINT = 66
-            runup_time = self.get_parameter("H_RSC_RUNUP_TIME")
-            crit_rotor_speed_pct = self.get_parameter("H_RSC_CRITICAL")*0.01
             start_alt = 100 # metres
             self.set_parameters({
                 "H_RSC_AROT_ENBL": 1,
@@ -467,6 +470,7 @@ def TestAutoRotationConfig(self, arot_ramp_time, arot_idle):
         # We test the bailout behavior of two different configs
         # First we test config with a regular throttle curve
         self.progress("testing autorotation with throttle curve config")
+        self.context_push()
         ramp_time = 2.0
         arot_idle = 0
         TestAutoRotationConfig(self, ramp_time, arot_idle)
@@ -476,6 +480,7 @@ def TestAutoRotationConfig(self, arot_ramp_time, arot_idle):
         ramp_time = 0.0
         arot_idle = 20
         TestAutoRotationConfig(self, ramp_time, arot_idle)
+        self.context_pop()
 
     def mission_item_home(self, target_system, target_component):
         '''returns a mission_item_int which can be used as home in a mission'''