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autotest: add regression tests for Winch

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Peter Barker 2023-09-07 17:40:30 +10:00 committed by Andrew Tridgell
parent 38ba5da09b
commit 0a98953ad7
1 changed files with 69 additions and 0 deletions
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69
Tools/autotest/arducopter.py
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@ -4735,6 +4735,74 @@ class AutoTestCopter(AutoTest):
self.wait_heading(100, accuracy=8, timeout=100) self.wait_heading(100, accuracy=8, timeout=100)
self.do_RTL() self.do_RTL()
def _DO_WINCH(self, command):
self.context_push()
self.load_default_params_file("copter-winch.parm")
self.reboot_sitl()
self.wait_ready_to_arm()
self.start_subtest("starts relaxed")
self.wait_servo_channel_value(9, 0)
self.start_subtest("rate control")
command(
mavutil.mavlink.MAV_CMD_DO_WINCH,
p1=1, # instance number
p2=mavutil.mavlink.WINCH_RATE_CONTROL, # command
p3=0, # length to release
p4=1, # rate in m/s
)
self.wait_servo_channel_value(9, 1900)
self.start_subtest("relax")
command(
mavutil.mavlink.MAV_CMD_DO_WINCH,
p1=1, # instance number
p2=mavutil.mavlink.WINCH_RELAXED, # command
p3=0, # length to release
p4=1, # rate in m/s
)
self.wait_servo_channel_value(9, 0)
self.start_subtest("hold but zero output")
command(
mavutil.mavlink.MAV_CMD_DO_WINCH,
p1=1, # instance number
p2=mavutil.mavlink.WINCH_RATE_CONTROL, # command
p3=0, # length to release
p4=0, # rate in m/s
)
self.wait_servo_channel_value(9, 1500)
self.start_subtest("relax")
command(
mavutil.mavlink.MAV_CMD_DO_WINCH,
p1=1, # instance number
p2=mavutil.mavlink.WINCH_RELAXED, # command
p3=0, # length to release
p4=1, # rate in m/s
)
self.wait_servo_channel_value(9, 0)
self.start_subtest("position")
command(
mavutil.mavlink.MAV_CMD_DO_WINCH,
p1=1, # instance number
p2=mavutil.mavlink.WINCH_RELATIVE_LENGTH_CONTROL, # command
p3=2, # length to release
p4=1, # rate in m/s
)
self.wait_servo_channel_value(9, 1900)
self.wait_servo_channel_value(9, 1500, timeout=60)
self.context_pop()
self.reboot_sitl()
def DO_WINCH(self):
'''test mavlink DO_WINCH command'''
self._DO_WINCH(self.run_cmd_int)
self._DO_WINCH(self.run_cmd)
def GuidedSubModeChange(self): def GuidedSubModeChange(self):
""""Ensure we can move around in guided after a takeoff command.""" """"Ensure we can move around in guided after a takeoff command."""
@ -10180,6 +10248,7 @@ class AutoTestCopter(AutoTest):
self.WPNAV_SPEED, self.WPNAV_SPEED,
self.WPNAV_SPEED_UP, self.WPNAV_SPEED_UP,
self.WPNAV_SPEED_DN, self.WPNAV_SPEED_DN,
self.DO_WINCH,
self.SensorErrorFlags, self.SensorErrorFlags,
self.GPSForYaw, self.GPSForYaw,
self.DefaultIntervalsFromFiles, self.DefaultIntervalsFromFiles,