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autotest: Test both telemetry protocols for IE24 fuel cell

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Gone4Dirt 2023-10-13 21:27:34 +01:00 committed by Andrew Tridgell
parent ab5d28073d
commit 1355c60daf
1 changed files with 14 additions and 8 deletions
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22
Tools/autotest/arducopter.py
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@ -7678,6 +7678,12 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
raise NotAchievedException("Did not find expected GEN message")
def IE24(self):
'''Test IntelligentEnergy 2.4kWh generator with V1 and V2 telemetry protocols'''
protocol_ver = (1, 2)
for ver in protocol_ver:
self.run_IE24(ver)
def run_IE24(self, proto_ver):
'''Test IntelligentEnergy 2.4kWh generator'''
elec_battery_instance = 2
fuel_battery_instance = 1
@ -7687,14 +7693,14 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
"GEN_TYPE": 2,
"BATT%u_MONITOR" % (fuel_battery_instance + 1): 18, # fuel-based generator
"BATT%u_MONITOR" % (elec_battery_instance + 1): 17,
"SIM_IE24_ENABLE": 1,
"SIM_IE24_ENABLE": proto_ver,
"LOG_DISARMED": 1,
})
self.customise_SITL_commandline(["--uartF=sim:ie24"])
self.start_subtest("ensure that BATTERY_STATUS for electrical generator message looks right")
self.start_subsubtest("Checking original voltage (electrical)")
self.start_subtest("Protocol %i: ensure that BATTERY_STATUS for electrical generator message looks right" % proto_ver)
self.start_subsubtest("Protocol %i: Checking original voltage (electrical)" % proto_ver)
# ArduPilot spits out essentially uninitialised battery
# messages until we read things fromthe battery:
self.delay_sim_time(30)
@ -7712,13 +7718,13 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
"battery_remaining": original_elec_m.battery_remaining - 1,
}, instance=elec_battery_instance)
self.start_subtest("ensure that BATTERY_STATUS for fuel generator message looks right")
self.start_subsubtest("Checking original voltage (fuel)")
self.start_subtest("Protocol %i: ensure that BATTERY_STATUS for fuel generator message looks right" % proto_ver)
self.start_subsubtest("Protocol %i: Checking original voltage (fuel)" % proto_ver)
# ArduPilot spits out essentially uninitialised battery
# messages until we read things fromthe battery:
if original_fuel_m.battery_remaining <= 90:
raise NotAchievedException("Bad original percentage (want=>%f got %f" % (90, original_fuel_m.battery_remaining))
self.start_subsubtest("Ensure percentage is counting down")
self.start_subsubtest("Protocol %i: Ensure percentage is counting down" % proto_ver)
self.wait_message_field_values('BATTERY_STATUS', {
"battery_remaining": original_fuel_m.battery_remaining - 1,
}, instance=fuel_battery_instance)
@ -7728,7 +7734,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.disarm_vehicle()
# Test for pre-arm check fail when state is not running
self.start_subtest("If you haven't taken off generator error should cause instant failsafe and disarm")
self.start_subtest("Protocol %i: Without takeoff generator error should cause failsafe and disarm" % proto_ver)
self.set_parameter("SIM_IE24_STATE", 8)
self.wait_statustext("Status not running", timeout=40)
self.try_arm(result=False,
@ -7736,7 +7742,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.set_parameter("SIM_IE24_STATE", 2) # Explicitly set state to running
# Test that error code does result in failsafe
self.start_subtest("If you haven't taken off generator error should cause instant failsafe and disarm")
self.start_subtest("Protocol %i: Without taken off generator error should cause failsafe and disarm" % proto_ver)
self.change_mode("STABILIZE")
self.set_parameter("DISARM_DELAY", 0)
self.arm_vehicle()