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autotest: augment test DO_AUX_FUNCTIION test for FAILED AND DENIED

This commit is contained in:
Peter Barker 2021-02-24 20:49:12 +11:00 committed by Peter Barker
parent b245b027f7
commit 30ebe6cde9
1 changed files with 19 additions and 1 deletions
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20
Tools/autotest/arduplane.py
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@ -2738,7 +2738,10 @@ class AutoTestPlane(AutoTest):
attempt_fence_breached_disable(start_mode="FBWA", end_mode="FBWA", expected_mode="GUIDED", action=6) attempt_fence_breached_disable(start_mode="FBWA", end_mode="FBWA", expected_mode="GUIDED", action=6)
attempt_fence_breached_disable(start_mode="FBWA", end_mode="FBWA", expected_mode="GUIDED", action=7) attempt_fence_breached_disable(start_mode="FBWA", end_mode="FBWA", expected_mode="GUIDED", action=7)
def run_auxfunc(self, function, level): def run_auxfunc(self,
function,
level,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
self.run_cmd( self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_AUX_FUNCTION, mavutil.mavlink.MAV_CMD_DO_AUX_FUNCTION,
function, # p1 function, # p1
@ -2748,6 +2751,7 @@ class AutoTestPlane(AutoTest):
0, # p5 0, # p5
0, # p6 0, # p6
0, # p7 0, # p7
want_result=want_result
) )
def fly_aux_function(self): def fly_aux_function(self):
@ -2758,6 +2762,20 @@ class AutoTestPlane(AutoTest):
self.wait_statustext("RevThrottle: DISABLE", check_context=True) self.wait_statustext("RevThrottle: DISABLE", check_context=True)
self.run_auxfunc(65, 2) # 65 == GPS_DISABLE self.run_auxfunc(65, 2) # 65 == GPS_DISABLE
self.start_subtest("Bad auxfunc")
self.run_auxfunc(
65231,
2,
want_result=mavutil.mavlink.MAV_RESULT_FAILED
)
self.start_subtest("Bad switchpos")
self.run_auxfunc(
62,
17,
want_result=mavutil.mavlink.MAV_RESULT_DENIED
)
def tests(self): def tests(self):
'''return list of all tests''' '''return list of all tests'''
ret = super(AutoTestPlane, self).tests() ret = super(AutoTestPlane, self).tests()