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Autotest: Add method for check servo channel in range

This commit is contained in:
MattKear 2024-10-07 19:05:29 +01:00 committed by Peter Barker
parent 8ed5a18cf9
commit 0281dc3a79
1 changed files with 22 additions and 0 deletions
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22
Tools/autotest/vehicle_test_suite.py
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@ -7962,6 +7962,28 @@ class TestSuite(ABC):
if comparator(m_value, value):
return m_value
def wait_servo_channel_in_range(self, channel, v_min, v_max, timeout=2):
"""wait for channel value to be within acceptable range"""
channel_field = "servo%u_raw" % channel
tstart = self.get_sim_time()
while True:
remaining = timeout - (self.get_sim_time_cached() - tstart)
if remaining <= 0:
raise NotAchievedException("Channel value condition not met")
m = self.mav.recv_match(type='SERVO_OUTPUT_RAW',
blocking=True,
timeout=remaining)
if m is None:
continue
m_value = getattr(m, channel_field, None)
if m_value is None:
raise ValueError("message (%s) has no field %s" %
(str(m), channel_field))
self.progress("want %u <= SERVO_OUTPUT_RAW.%s <= %u, got value = %u" %
(v_min, channel_field, v_max, m_value))
if (v_min <= m_value) and (m_value <= v_max):
return m_value
def assert_servo_channel_value(self, channel, value, comparator=operator.eq):
"""assert channel value (default condition is equality)"""
channel_field = "servo%u_raw" % channel