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autotest: add test for execution of button-bound functions

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Peter Barker 2020-10-14 13:46:26 +11:00 committed by Andrew Tridgell
parent 12f001066b
commit 17f806cdb9
2 changed files with 45 additions and 1 deletions
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44
Tools/autotest/common.py
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@ -7140,6 +7140,50 @@ switch value'''
(new_mask, m3.state)) (new_mask, m3.state))
self.progress("correct BUTTON_CHANGE event received") self.progress("correct BUTTON_CHANGE event received")
if self.is_tracker():
# tracker starts armed, which is annoying
self.progress("Skipping arm/disarm tests for tracker")
return
self.wait_ready_to_arm()
self.set_parameter("BTN_FUNC%u" % btn, 41) # ARM/DISARM
self.set_parameter("SIM_PIN_MASK", mask)
self.wait_armed()
self.set_parameter("SIM_PIN_MASK", 0)
self.wait_disarmed()
if self.is_rover():
self.context_push()
# arming should be inhibited while e-STOP is in use:
# set the function:
self.set_parameter("BTN_FUNC%u" % btn, 31)
# invert the sense of the pin, so eStop is asserted when pin is low:
self.set_parameter("BTN_OPTIONS%u" % btn, 1<<1)
self.reboot_sitl()
# assert the pin:
self.set_parameter("SIM_PIN_MASK", mask)
self.wait_ready_to_arm()
self.arm_vehicle()
self.disarm_vehicle()
# de-assert the pin:
self.set_parameter("SIM_PIN_MASK", 0)
self.delay_sim_time(1) # 5Hz update rate on Button library
self.context_collect("STATUSTEXT")
# try to arm the vehicle:
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0,
want_result=mavutil.mavlink.MAV_RESULT_FAILED
)
self.wait_statustext("PreArm: Motors Emergency Stopped", check_context=True)
self.context_pop()
self.reboot_sitl()
def compare_number_percent(self, num1, num2, percent): def compare_number_percent(self, num1, num2, percent):
if num1 == 0 and num2 == 0: if num1 == 0 and num2 == 0:
return True return True

2
Tools/autotest/rover.py
View File

@ -4457,7 +4457,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
0, # p6 - test order (see MOTOR_TEST_ORDER) 0, # p6 - test order (see MOTOR_TEST_ORDER)
0, # p7 0, # p7
) )
self.mav.motors_armed_wait() self.wait_armed()
self.progress("Waiting for magic throttle value") self.progress("Waiting for magic throttle value")
self.wait_servo_channel_value(3, magic_throttle_value) self.wait_servo_channel_value(3, magic_throttle_value)
self.wait_servo_channel_value(3, self.get_parameter("RC3_TRIM", 5), timeout=10) self.wait_servo_channel_value(3, self.get_parameter("RC3_TRIM", 5), timeout=10)