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autotest: add test for estop-on-rc-switch

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Peter Barker 2021-12-17 07:32:22 +11:00 committed by Peter Barker
parent c9cc97edbd
commit 2cdb082139
1 changed files with 16 additions and 0 deletions
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16
Tools/autotest/rover.py
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@ -5825,6 +5825,17 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
# self.context_pop()
def EStopAtBoot(self):
self.context_push()
self.set_parameters({
"RC9_OPTION": 31,
})
self.set_rc(9, 2000)
self.reboot_sitl()
self.delay_sim_time(10)
self.assert_prearm_failure("Motors Emergency Stopped")
self.context_pop()
def tests(self):
'''return list of all tests'''
ret = super(AutoTestRover, self).tests()
@ -6062,6 +6073,11 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
("DepthFinder",
"Test mulitple depthfinders for boats",
self.test_depthfinder),
("EStopAtBoot",
"Ensure EStop prevents arming when asserted at boot time",
self.EStopAtBoot),
])
return ret