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Tools: autotest: delay between transitioning aux switch for arming

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... on the theory that we debounce these so it's a good idea to give the
RC library a good look at each value
This commit is contained in:
Peter Barker 2018-11-26 16:37:07 +11:00 committed by Peter Barker
parent 18c3eba829
commit 02993b4ad0
1 changed files with 15 additions and 3 deletions
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18
Tools/autotest/common.py
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@ -306,7 +306,7 @@ class AutoTest(ABC):
# SIM UTILITIES # SIM UTILITIES
################################################# #################################################
def get_sim_time(self): def get_sim_time(self):
"""Get SITL time.""" """Get SITL time in seconds."""
m = self.mav.recv_match(type='SYSTEM_TIME', blocking=True) m = self.mav.recv_match(type='SYSTEM_TIME', blocking=True)
return m.time_boot_ms * 1.0e-3 return m.time_boot_ms * 1.0e-3
@ -317,6 +317,15 @@ class AutoTest(ABC):
return self.get_sim_time() return self.get_sim_time()
return x.time_boot_ms * 1.0e-3 return x.time_boot_ms * 1.0e-3
def delay_sim_time(self, delay):
'''delay for delay seconds in simulation time'''
m = self.mav.recv_match(type='SYSTEM_TIME', blocking=True)
start = m.time_boot_ms
while True:
m = self.mav.recv_match(type='SYSTEM_TIME', blocking=True)
if m.time_boot_ms - start > delay * 1000:
return
def sim_location(self): def sim_location(self):
"""Return current simulator location.""" """Return current simulator location."""
m = self.mav.recv_match(type='SIMSTATE', blocking=True) m = self.mav.recv_match(type='SIMSTATE', blocking=True)
@ -537,10 +546,11 @@ class AutoTest(ABC):
time_ratio = None time_ratio = None
else: else:
time_ratio = wclock_delta / sim_time_delta time_ratio = wclock_delta / sim_time_delta
self.progress("set_rc (wc=%s st=%s r=%s): want=%u got=%u" % self.progress("set_rc (wc=%s st=%s r=%s): ch=%u want=%u got=%u" %
(wclock_delta, (wclock_delta,
sim_time_delta, sim_time_delta,
time_ratio, time_ratio,
chan,
pwm, pwm,
chan_pwm)) chan_pwm))
if chan_pwm == pwm: if chan_pwm == pwm:
@ -700,7 +710,7 @@ class AutoTest(ABC):
self.progress("Arm motors with switch %d" % switch_chan) self.progress("Arm motors with switch %d" % switch_chan)
self.set_rc(switch_chan, 2000) self.set_rc(switch_chan, 2000)
tstart = self.get_sim_time() tstart = self.get_sim_time()
while self.get_sim_time() < tstart + timeout: while self.get_sim_time() - tstart < timeout:
self.mav.wait_heartbeat() self.mav.wait_heartbeat()
if self.mav.motors_armed(): if self.mav.motors_armed():
self.progress("MOTORS ARMED OK WITH SWITCH") self.progress("MOTORS ARMED OK WITH SWITCH")
@ -1436,6 +1446,8 @@ class AutoTest(ABC):
arming_switch = 7 arming_switch = 7
self.set_parameter("RC%d_OPTION" % arming_switch, 41) self.set_parameter("RC%d_OPTION" % arming_switch, 41)
self.set_rc(arming_switch, 1000) self.set_rc(arming_switch, 1000)
# delay so a transition is seen by the RC switch code:
self.delay_sim_time(0.5)
if not self.arm_motors_with_switch(arming_switch): if not self.arm_motors_with_switch(arming_switch):
raise NotAchievedException("Failed to arm with switch") raise NotAchievedException("Failed to arm with switch")
if not self.disarm_motors_with_switch(arming_switch): if not self.disarm_motors_with_switch(arming_switch):