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autotest: FETtec tests: give vehicle a chance to realise ESCs are dead 

Should remove the race condition where we disable an ESC but the vehicle
doesn't realise and lets the vehicle arm.

Also, waiting this long causes the ESCs to just go missing, not give a
telemetry failure
This commit is contained in:
Peter Barker 2021-11-01 13:41:50 +11:00 committed by Randy Mackay
parent d4d2a779e8
commit 2bf777ccb7
1 changed files with 6 additions and 3 deletions
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9
Tools/autotest/arducopter.py
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@ -7105,21 +7105,24 @@ class AutoTestCopter(AutoTest):
for mot_id_to_kill in 1, 2: for mot_id_to_kill in 1, 2:
self.progress("Turning ESC=%u off" % mot_id_to_kill) self.progress("Turning ESC=%u off" % mot_id_to_kill)
self.set_parameter("SIM_FTOWESC_POW", mask & ~(1 << mot_id_to_kill)) self.set_parameter("SIM_FTOWESC_POW", mask & ~(1 << mot_id_to_kill))
self.assert_prearm_failure("are not sending tel") self.delay_sim_time(1)
self.assert_prearm_failure("are not running")
self.progress("Turning it back on") self.progress("Turning it back on")
self.set_parameter("SIM_FTOWESC_POW", mask) self.set_parameter("SIM_FTOWESC_POW", mask)
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.progress("Turning ESC=%u off (again)" % mot_id_to_kill) self.progress("Turning ESC=%u off (again)" % mot_id_to_kill)
self.set_parameter("SIM_FTOWESC_POW", mask & ~(1 << mot_id_to_kill)) self.set_parameter("SIM_FTOWESC_POW", mask & ~(1 << mot_id_to_kill))
self.assert_prearm_failure("are not sending tel") self.delay_sim_time(1)
self.assert_prearm_failure("are not running")
self.progress("Turning it back on") self.progress("Turning it back on")
self.set_parameter("SIM_FTOWESC_POW", mask) self.set_parameter("SIM_FTOWESC_POW", mask)
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.progress("Turning all ESCs off") self.progress("Turning all ESCs off")
self.set_parameter("SIM_FTOWESC_POW", 0) self.set_parameter("SIM_FTOWESC_POW", 0)
self.assert_prearm_failure("are not sending tel") self.delay_sim_time(1)
self.assert_prearm_failure("are not running")
self.progress("Turning them back on") self.progress("Turning them back on")
self.set_parameter("SIM_FTOWESC_POW", mask) self.set_parameter("SIM_FTOWESC_POW", mask)
self.wait_ready_to_arm() self.wait_ready_to_arm()