autotest: added fast attitude recovery test

ensures we can recover from inverted flight quickly

Tools/autotest/quadplane.py

@@ -1858,6 +1858,47 @@ def RTL_AUTOLAND_1_FROM_GUIDED(self):
 
         self.fly_home_land_and_disarm()
 
+    def FastInvertedRecovery(self):
+        '''test recovery from inverted flight is fast'''
+
+        self.set_parameters({
+            "Q_A_ACCEL_R_MAX": 20000,
+            "Q_A_ACCEL_P_MAX": 20000,
+            "Q_A_ACCEL_Y_MAX": 20000,
+            "Q_A_RATE_R_MAX": 50,
+            "Q_A_RATE_P_MAX": 50,
+            "Q_A_RATE_Y_MAX": 50,
+        })
+
+        self.wait_ready_to_arm()
+        self.takeoff(60, mode='GUIDED', timeout=100)
+
+        self.context_collect('STATUSTEXT')
+        self.set_rc(3, 1500)
+        self.change_mode('CRUISE')
+        self.wait_statustext("Transition done", check_context=True)
+
+        self.progress("Go to inverted flight")
+        self.run_auxfunc(43, 2)
+        self.wait_roll(180, 3, absolute_value=True)
+
+        initial_altitude = self.get_altitude(relative=True, timeout=2)
+        self.change_mode('QHOVER')
+
+        self.wait_statustext("Fast attitude recovery", check_context=True)
+        self.wait_roll(0, 3, absolute_value=True)
+
+        recovery_altitude = self.get_altitude(relative=True, timeout=2)
+        alt_change = initial_altitude - recovery_altitude
+
+        self.progress("Recovery AltChange %.1fm" % alt_change)
+
+        max_alt_change = 16 # normally 14.5, added 1.5 margin
+        if alt_change > max_alt_change:
+            raise NotAchievedException("Recovery AltChange too high %.1f > %.1f" % (alt_change, max_alt_change))
+        self.run_auxfunc(43, 0)
+        self.fly_home_land_and_disarm()
+
     def tests(self):
         '''return list of all tests'''
 
@@ -1906,5 +1947,6 @@ def tests(self):
             self.DCMClimbRate,
             self.RTL_AUTOLAND_1,  # as in fly-home then go to landing sequence
             self.RTL_AUTOLAND_1_FROM_GUIDED,  # as in fly-home then go to landing sequence
+            self.FastInvertedRecovery,
         ])
         return ret

Tools/autotest/vehicle_test_suite.py

@@ -7383,12 +7383,14 @@ def get_speed(timeout2):
             **kwargs
         )
 
-    def wait_roll(self, roll, accuracy, timeout=30, **kwargs):
+    def wait_roll(self, roll, accuracy, timeout=30, absolute_value=False, **kwargs):
         """Wait for a given roll in degrees."""
         def get_roll(timeout2):
             msg = self.assert_receive_message('ATTITUDE', timeout=timeout2)
             p = math.degrees(msg.pitch)
             r = math.degrees(msg.roll)
+            if absolute_value:
+                r = abs(r)
             self.progress("Roll %d Pitch %d" % (r, p))
             return r