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Henry WurzburgandClaude Sonnet 5
e0605354cf
Adds QRTLGradualAltDescent: flies out ~900m, triggers QRTL, and asserts the vehicle does not shed more than 15m of altitude in the first 15 seconds, then completes a normal VTOL landing. Adds QRTLGradualAltDescentTerrain, covering the altitude-frame-mixing bug found during review: flies over real sloped terrain near CMAC and checks the approach ramp's target altitude starts near the aircraft's current position instead of jumping by the terrain-height gap between the approach start point and home. Does not cover the POSITION1/2 fix from the same PR - reliably triggering that path needs an abrupt, timed fault injection that would need dedicated harness support to test safely. The two message-polling loops in these tests are written as MessageHook subclasses, matching this file's existing DetectThrottleSpike convention, rather than hand-rolled recv_match loops. Also fixes a failing location-ratchet check by replacing home_position_as_mav_location()/home_relative_loc_ne() with the frame-aware home_position_as_location()/offset_location_ne(). Verified locally: both tests pass with a real quadplane SITL build. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>