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autotest: add a test for gripper release on thrust loss

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Peter Barker 2024-06-19 13:07:44 +10:00 committed by Peter Barker
parent 05a22aaffc
commit 35cb526241
1 changed files with 31 additions and 7 deletions
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38
Tools/autotest/arducopter.py
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@ -4938,6 +4938,15 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
0.01 # size of target in radians, Y-axis
)
def set_servo_gripper_parameters(self):
self.set_parameters({
"GRIP_ENABLE": 1,
"GRIP_TYPE": 1,
"SIM_GRPS_ENABLE": 1,
"SIM_GRPS_PIN": 8,
"SERVO8_FUNCTION": 28,
})
def PayloadPlaceMission(self):
"""Test payload placing in auto."""
self.context_push()
@ -4945,13 +4954,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
ex = None
try:
self.set_analog_rangefinder_parameters()
self.set_parameters({
"GRIP_ENABLE": 1,
"GRIP_TYPE": 1,
"SIM_GRPS_ENABLE": 1,
"SIM_GRPS_PIN": 8,
"SERVO8_FUNCTION": 28,
})
self.set_servo_gripper_parameters()
self.reboot_sitl()
self.load_mission("copter_payload_place.txt")
@ -11521,6 +11524,26 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.reboot_sitl() # because we set home
def GripperReleaseOnThrustLoss(self):
'''tests that gripper is released on thrust loss if option set'''
self.context_push()
self.set_servo_gripper_parameters()
self.reboot_sitl()
self.takeoff(30, mode='LOITER')
self.set_parameters({
"SIM_ENGINE_FAIL": 1,
"SIM_ENGINE_MUL": 0.5,
"FLIGHT_OPTIONS": 4,
})
self.wait_statustext("Gripper Load Released", timeout=60)
self.context_pop()
self.do_RTL()
self.reboot_sitl()
def tests2b(self): # this block currently around 9.5mins here
'''return list of all tests'''
ret = ([
@ -11611,6 +11634,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.GuidedForceArm,
self.GuidedWeatherVane,
self.Clamp,
self.GripperReleaseOnThrustLoss,
])
return ret