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autotest: add an autotest for DO_PAUSE_CONTINUE

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This commit is contained in:
Peter Barker 2021-11-24 22:32:33 +11:00 committed by Randy Mackay
parent c729fc7796
commit 09f06be17e
3 changed files with 51 additions and 0 deletions
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11
Tools/autotest/ArduCopter_Tests/PAUSE_CONTINUE/copter_mission.txt Normal file
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@ -0,0 +1,11 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.090027 1
1 0 3 22 0.000000 0.000000 0.000000 0.000000 -35.362881 149.165222 20.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364652 149.163501 0.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365361 149.163501 0.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365361 149.163995 40.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.365361 149.164563 20.000000 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364652 149.164531 20.000000 1
7 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364652 149.163995 20.000000 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
9 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1

39
Tools/autotest/arducopter.py
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@ -7396,6 +7396,41 @@ class AutoTestCopter(AutoTest):
if ex is not None:
raise ex
def PAUSE_CONTINUE(self):
self.load_mission("copter_mission.txt", strict=False)
self.set_parameter("AUTO_OPTIONS", 3)
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_waypoint(4, 4)
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_PAUSE_CONTINUE,
0, # param1
0, # param2
0, # param3
0, # param4
0, # param5
0, # param6
0 # param7
)
self.wait_groundspeed(0, 1, minimum_duration=5)
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_PAUSE_CONTINUE,
1, # param1
0, # param2
0, # param3
0, # param4
0, # param5
0, # param6
0 # param7
)
self.wait_groundspeed(5, 100)
self.wait_disarmed()
# a wrapper around all the 1A,1B,1C..etc tests for travis
def tests1(self):
ret = ([])
@ -7891,6 +7926,10 @@ class AutoTestCopter(AutoTest):
"Test Different Altitude Types",
self.test_altitude_types),
("PAUSE_CONTINUE",
"Test MAV_CMD_PAUSE_CONTINUE",
self.PAUSE_CONTINUE),
("RichenPower",
"Test RichenPower generator",
self.test_richenpower),

1
Tools/autotest/common.py
View File

@ -3415,6 +3415,7 @@ class AutoTest(ABC):
mavutil.mavlink.MAV_CMD_DO_JUMP,
mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL,
mavutil.mavlink.MAV_CMD_DO_SET_SERVO,
mavutil.mavlink.MAV_CMD_DO_PAUSE_CONTINUE,
]
def assert_mission_files_same(self, file1, file2, match_comments=False):