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autotest: add test for MAV_CMD_DO_LAND_START

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Peter Barker 2023-09-29 11:23:00 +10:00 committed by Peter Barker
parent ef1952e1c0
commit 1641aa42ec
1 changed files with 39 additions and 0 deletions
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39
Tools/autotest/arducopter.py
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@ -10308,6 +10308,44 @@ class AutoTestCopter(AutoTest):
command(mavutil.mavlink.MAV_CMD_NAV_LAND)
self.wait_mode('LAND')
def start_flying_simple_rehome_mission(self, items):
'''uploads items, changes mode to auto, waits ready to arm and arms
vehicle. If the first item it a takeoff you can expect the
vehicle to fly after this method returns
'''
self.upload_simple_relhome_mission(items)
self.set_parameter("AUTO_OPTIONS", 3)
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
def _MAV_CMD_DO_LAND_START(self, run_cmd):
alt = 5
self.start_flying_simple_rehome_mission([
(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, alt),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 200, 0, alt),
(mavutil.mavlink.MAV_CMD_NAV_LAND, 0, 0, 0),
(mavutil.mavlink.MAV_CMD_DO_LAND_START, 0, 0, alt),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 200, 2000, alt),
(mavutil.mavlink.MAV_CMD_NAV_LAND, 0, 0, 0),
])
self.wait_current_waypoint(2)
run_cmd(mavutil.mavlink.MAV_CMD_DO_LAND_START)
self.wait_current_waypoint(5)
# we pretend to be in RTL mode while doing this:
self.wait_mode("AUTO_RTL")
self.do_RTL()
def MAV_CMD_DO_LAND_START(self):
'''test handling of mavlink-received MAV_CMD_DO_LAND_START command'''
self._MAV_CMD_DO_LAND_START(self.run_cmd)
self.zero_throttle()
self._MAV_CMD_DO_LAND_START(self.run_cmd_int)
def tests2b(self): # this block currently around 9.5mins here
'''return list of all tests'''
ret = ([
@ -10373,6 +10411,7 @@ class AutoTestCopter(AutoTest):
self.SafetySwitch,
self.BrakeZ,
self.MAV_CMD_DO_FLIGHTTERMINATION,
self.MAV_CMD_DO_LAND_START,
])
return ret