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autotest: add autotests for MAV_CMD_SET_SOURCE_SET mavlink command

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This commit is contained in:
Peter Barker 2023-10-10 19:32:07 +11:00 committed by Andrew Tridgell
parent 3bf8b4f1bf
commit 28a141b423
1 changed files with 23 additions and 0 deletions
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23
Tools/autotest/arducopter.py
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@ -10346,6 +10346,28 @@ class AutoTestCopter(AutoTest):
self.zero_throttle()
self._MAV_CMD_DO_LAND_START(self.run_cmd_int)
def _MAV_CMD_SET_EKF_SOURCE_SET(self, run_cmd):
run_cmd(
mavutil.mavlink.MAV_CMD_SET_EKF_SOURCE_SET,
17,
want_result=mavutil.mavlink.MAV_RESULT_DENIED,
)
self.change_mode('LOITER')
self.wait_ready_to_arm()
run_cmd(mavutil.mavlink.MAV_CMD_SET_EKF_SOURCE_SET, 2)
self.assert_prearm_failure('Need Position Estimate')
run_cmd(mavutil.mavlink.MAV_CMD_SET_EKF_SOURCE_SET, 1)
self.wait_ready_to_arm()
def MAV_CMD_SET_EKF_SOURCE_SET(self):
'''test setting of source sets using mavlink command'''
self._MAV_CMD_SET_EKF_SOURCE_SET(self.run_cmd)
self._MAV_CMD_SET_EKF_SOURCE_SET(self.run_cmd_int)
def tests2b(self): # this block currently around 9.5mins here
'''return list of all tests'''
ret = ([
@ -10412,6 +10434,7 @@ class AutoTestCopter(AutoTest):
self.BrakeZ,
self.MAV_CMD_DO_FLIGHTTERMINATION,
self.MAV_CMD_DO_LAND_START,
self.MAV_CMD_SET_EKF_SOURCE_SET,
])
return ret