mirror of https://github.com/ArduPilot/ardupilot
Tools: add test for ArmingSwitch after reboot
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@ -10277,6 +10277,29 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
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self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_SAFETY_SWITCH_STATE, mavutil.mavlink.SAFETY_SWITCH_STATE_DANGEROUS)
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self.wait_ready_to_arm()
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def ArmSwitchAfterReboot(self):
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'''test that the arming switch does not trigger after a reboot'''
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self.wait_ready_to_arm()
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self.set_parameters({
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"RC8_OPTION": 153,
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})
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self.set_rc(8, 2000)
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self.wait_armed()
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self.disarm_vehicle()
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self.context_collect('STATUSTEXT')
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self.reboot_sitl()
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tstart = self.get_sim_time()
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while True:
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if self.get_sim_time_cached() - tstart > 60:
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break
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if self.armed():
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raise NotAchievedException("Armed after reboot with switch high")
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armmsg = self.statustext_in_collections('Arm: ')
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if armmsg is not None:
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raise NotAchievedException("statustext(%s) means we tried to arm" % armmsg.text)
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self.progress("Did not arm via arming switfch after a reboot")
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def GuidedYawRate(self):
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'''ensuer guided yaw rate is not affected by rate of sewt-attitude messages'''
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self.takeoff(30, mode='GUIDED')
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@ -10796,6 +10819,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
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self.GuidedYawRate,
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self.NoArmWithoutMissionItems,
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self.DO_CHANGE_SPEED_in_guided,
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self.ArmSwitchAfterReboot,
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self.RPLidarA1,
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self.RPLidarA2,
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self.SafetySwitch,
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