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autotest: extend RichenPower test

This commit is contained in:
Peter Barker 2020-07-23 14:37:57 +10:00 committed by Randy Mackay
parent 34be953085
commit 07abb3ab6a
1 changed files with 47 additions and 6 deletions
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53
Tools/autotest/arducopter.py
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@ -4792,6 +4792,29 @@ class AutoTestCopter(AutoTest):
if ex is not None:
raise ex
def wait_generator_speed_and_state(self, rpm_min, rpm_max, want_state, timeout=240):
self.drain_mav()
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Did not move to state/speed")
m = self.mav.recv_match(type="GENERATOR_STATUS", blocking=True, timeout=10)
if m is None:
raise NotAchievedException("Did not get GENERATOR_STATUS")
if m.generator_speed < rpm_min:
self.progress("Too slow (%u<%u)" % (m.generator_speed, rpm_min))
continue
if m.generator_speed > rpm_max:
self.progress("Too fast (%u>%u)" % (m.generator_speed, rpm_max))
continue
if m.status != want_state:
self.progress("Wrong state (got=%u want=%u)" % (m.status, want_state))
break
self.progress("Got generator speed and state")
def test_richenpower(self):
self.set_parameter("SERIAL5_PROTOCOL", 30)
self.set_parameter("SIM_RICH_ENABLE", 1)
@ -4799,9 +4822,15 @@ class AutoTestCopter(AutoTest):
self.set_parameter("SIM_RICH_CTRL", 8)
self.set_parameter("RC9_OPTION", 85)
self.set_parameter("LOG_DISARMED", 1)
self.customise_SITL_commandline(["--uartF=sim:richenpower"])
self.set_rc(9, 1000) # remember this is a switch position - stop
self.customise_SITL_commandline(["--uartF=sim:richenpower"])
self.mavproxy.expect("requested state is not RUN")
self.set_message_rate_hz("GENERATOR_STATUS", 10)
self.drain_mav_unparsed()
self.wait_generator_speed_and_state(0, 0, mavutil.mavlink.MAV_GENERATOR_STATUS_FLAG_OFF)
messages = []
def my_message_hook(mav, m):
if m.get_type() != 'STATUSTEXT':
@ -4816,11 +4845,23 @@ class AutoTestCopter(AutoTest):
self.mavproxy.expect("Generator HIGH")
self.set_rc(9, 1000) # remember this is a switch position - stop
self.mavproxy.expect("requested state is not RUN", timeout=200)
self.set_message_rate_hz("GENERATOR_STATUS", 1)
self.drain_mav_unparsed()
m = self.assert_receive_message("GENERATOR_STATUS",timeout=10)
if m.generator_speed == 0:
raise NotAchievedException("Zero GENERATOR_STATUS.generator_speed")
self.set_rc(9, 1500) # remember this is a switch position - idle
self.wait_generator_speed_and_state(3000, 8000, mavutil.mavlink.MAV_GENERATOR_STATUS_FLAG_IDLE)
self.set_rc(9, 2000) # remember this is a switch position - run
# self.wait_generator_speed_and_state(3000, 30000, mavutil.mavlink.MAV_GENERATOR_STATUS_FLAG_WARMING_UP)
self.wait_generator_speed_and_state(8000, 30000, mavutil.mavlink.MAV_GENERATOR_STATUS_FLAG_GENERATING)
self.progress("Moving *back* to idle")
self.set_rc(9, 1500) # remember this is a switch position - idle
self.wait_generator_speed_and_state(3000, 10000, mavutil.mavlink.MAV_GENERATOR_STATUS_FLAG_IDLE)
self.progress("Moving *back* to run")
self.set_rc(9, 2000) # remember this is a switch position - run
self.wait_generator_speed_and_state(8000, 30000, mavutil.mavlink.MAV_GENERATOR_STATUS_FLAG_GENERATING)
self.set_message_rate_hz("GENERATOR_STATUS", -1)
self.set_parameter("LOG_DISARMED", 0)
if not self.current_onboard_log_contains_message("GEN"):