From 29556ade259152f572ce8ddaed9f6e3476cc35bc Mon Sep 17 00:00:00 2001 From: Michael du Breuil Date: Fri, 28 Apr 2023 13:04:13 -0700 Subject: [PATCH] Tools: Support MAX_RPM autotest --- Tools/autotest/arducopter.py | 17 ++++++++++++++++- 1 file changed, 16 insertions(+), 1 deletion(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 3633db2f4d..57faea80ca 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -1143,7 +1143,7 @@ class AutoTestCopter(AutoTest): else: self.set_rc(3, 1700) # we may never see ourselves as armed in a heartbeat - self.wait_statustext("Takeoff blocked: ESC RPM too low", check_context=True) + self.wait_statustext("Takeoff blocked: ESC RPM out of range", check_context=True) self.context_pop() self.zero_throttle() self.disarm_vehicle() @@ -1168,6 +1168,21 @@ class AutoTestCopter(AutoTest): self.test_takeoff_check_mode("POSHOLD") # self.test_takeoff_check_mode("SPORT") + self.set_parameters({ + "AHRS_EKF_TYPE": 10, + 'SIM_ESC_TELEM': 1, + 'TKOFF_RPM_MIN': 1, + 'TKOFF_RPM_MAX': 3, + }) + self.test_takeoff_check_mode("STABILIZE") + self.test_takeoff_check_mode("ACRO") + self.test_takeoff_check_mode("LOITER") + self.test_takeoff_check_mode("ALT_HOLD") + # self.test_takeoff_check_mode("FLOWHOLD") + self.test_takeoff_check_mode("GUIDED", True) + self.test_takeoff_check_mode("POSHOLD") + # self.test_takeoff_check_mode("SPORT") + def assert_dataflash_message_field_level_at(self, mtype, field,