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Tools: take MAV_CMD_DO_SPRAYER as a mavlink command

This commit is contained in:
Peter Barker 2020-07-04 09:03:18 +10:00 committed by Peter Barker
parent eefcc92f24
commit 1ca0998f32
1 changed files with 28 additions and 0 deletions
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28
Tools/autotest/rover.py
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@ -310,6 +310,34 @@ class AutoTestRover(AutoTest):
self.progress("Waiting for sprayer to stop")
self.wait_servo_channel_value(pump_ch, pump_ch_min, timeout=120)
self.start_subtest("Checking mavlink commands")
self.change_mode("MANUAL")
self.progress("Starting Sprayer")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SPRAYER,
1, # p1
0, # p2
0, # p3
0, # p4
0, # p5
0, # p6
0, # p7
);
self.progress("Testing speed-ramping")
self.set_rc(3, 1700) # start driving forward
self.wait_servo_channel_value(pump_ch, 1690, timeout=60, comparator=operator.gt)
self.start_subtest("Stopping Sprayer")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SPRAYER,
0, # p1
0, # p2
0, # p3
0, # p4
0, # p5
0, # p6
0, # p7
);
self.wait_servo_channel_value(pump_ch, pump_ch_min)
self.set_rc(3, 1000) # start driving forward
self.progress("Sprayer OK")
except Exception as e:
self.progress("Caught exception: %s" %