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autotest: add test for Rover MAV_CMD_MISSION_START

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Peter Barker 2023-08-24 22:31:29 +10:00 committed by Peter Barker
parent 4c39d73794
commit 1228f4c458
1 changed files with 19 additions and 0 deletions
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19
Tools/autotest/rover.py
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@ -6392,6 +6392,24 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.wait_distance_to_home(0, 5, timeout=30)
self.disarm_vehicle()
def MAV_CMD_MISSION_START(self):
'''simple test for starting missing using this command'''
# home and 1 waypoint a long way away:
self.upload_simple_relhome_mission([
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, 0),
])
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
for method in self.run_cmd, self.run_cmd_int:
self.change_mode('MANUAL')
self.wait_groundspeed(0, 1)
method(mavutil.mavlink.MAV_CMD_MISSION_START)
self.wait_mode('AUTO')
self.wait_groundspeed(3, 100)
self.disarm_vehicle()
def tests(self):
'''return list of all tests'''
ret = super(AutoTestRover, self).tests()
@ -6426,6 +6444,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.SET_POSITION_TARGET_LOCAL_NED,
self.MAV_CMD_DO_SET_MISSION_CURRENT,
self.MAV_CMD_DO_CHANGE_SPEED,
self.MAV_CMD_MISSION_START,
self.Button,
self.Rally,
self.Offboard,