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Tools: autotest: add tests for Rover gripper support

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This commit is contained in:
Peter Barker 2018-10-23 15:58:56 +11:00 committed by Randy Mackay
parent 6f1f98dc3c
commit 1347083548
2 changed files with 22 additions and 3 deletions
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19
Tools/autotest/apmrover2.py
View File

@ -348,6 +348,16 @@ class AutoTestRover(AutoTest):
self.disarm_vehicle() self.disarm_vehicle()
self.progress("Mission OK") self.progress("Mission OK")
def test_gripper_mission(self):
self.load_mission("rover-gripper-mission.txt")
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.mavproxy.expect("Gripper Grabbed")
self.mavproxy.expect("Gripper Released")
self.wait_mode("HOLD")
self.disarm_vehicle()
def do_get_banner(self): def do_get_banner(self):
self.mavproxy.send("long DO_SEND_BANNER 1\n") self.mavproxy.send("long DO_SEND_BANNER 1\n")
start = time.time() start = time.time()
@ -969,6 +979,15 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
"Test Camera Mission Items", "Test Camera Mission Items",
self.test_camera_mission_items), self.test_camera_mission_items),
# Gripper test
("Gripper",
"Test gripper",
self.test_gripper),
("GripperMission",
"Test Gripper Mission Items",
self.test_gripper_mission),
("SET_MESSAGE_INTERVAL", ("SET_MESSAGE_INTERVAL",
"Test MAV_CMD_SET_MESSAGE_INTERVAL", "Test MAV_CMD_SET_MESSAGE_INTERVAL",
self.test_set_message_interval), self.test_set_message_interval),

6
Tools/autotest/rover-gripper-mission.txt
View File

@ -1,6 +1,6 @@
QGC WPL 110 QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 -0.110000 1 0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.0713750 -105.229789 0 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.362698 149.165146 0.000000 1 1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.0713350 -105.229779 0.000000 1
2 0 0 211 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 2 0 0 211 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363304 149.164978 0.000000 1 3 0 3 16 0.000000 0.000000 0.000000 0.000000 40.0713550 -105.229769 0.000000 1
4 0 0 211 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 4 0 0 211 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1