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autotest: let the takeoff settle before DO_CHANGE_ALTITUDE asserts #34082

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autotest: let the takeoff settle before DO_CHANGE_ALTITUDE asserts #34082

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3 changes: 3 additions & 0 deletions Tools/autotest/arduplane.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7810,6 +7810,9 @@ def DO_CHANGE_ALTITUDE(self):

takeoff_alt = 30
self.takeoff(alt=takeoff_alt, mode='TAKEOFF')
# TAKEOFF hands back to TECS 2m below target while still climbing at
# 9.3m/s, so let the ~10m overshoot settle before asserting altitude.
self.wait_altitude(takeoff_alt-2, takeoff_alt+2, minimum_duration=5, relative=True, timeout=90)
self.wait_altitude(takeoff_alt-1, takeoff_alt+1, minimum_duration=10, relative=True, timeout=60)

self.start_subtest("Home-relative altitude")
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