autotest: add test for FETtecESC

Tools/autotest/ArduCopter_Tests/FETtecESC/copter_mission.txt

@@ -0,0 +1,14 @@
+QGC WPL 110
+0	1	0	16	0.000000	0.000000	0.000000	0.000000	-35.362881	149.165222	582.000000	1
+1	0	3	22	0.000000	0.000000	0.000000	0.000000	-35.362881	149.165222	20.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364652	149.163501	0.000000	1
+3	0	3	115	640.000000	20.000000	1.000000	1.000000	0.000000	0.000000	0.000000	1
+4	0	3	19	5.000000	0.000000	0.000000	1.000000	0.000000	0.000000	20.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365361	149.163501	0.000000	1
+6	0	3	16	1.000000	0.000000	0.000000	0.000000	-35.365361	149.163995	40.000000	1
+7	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365361	149.164563	20.000000	1
+8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364652	149.164531	20.000000	1
+9	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364652	149.163995	20.000000	1
+10	0	3	177	8.000000	1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+11	0	3	16	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+12	0	3	20	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1

Tools/autotest/arducopter.py

@@ -2139,6 +2139,12 @@ class AutoTestCopter(AutoTest):
         if not num_wp:
             raise NotAchievedException("load copter_mission failed")
 
+        self.fly_loaded_mission(num_wp)
+
+        self.progress("Auto mission completed: passed!")
+
+    def fly_loaded_mission(self, num_wp):
+        '''fly mission loaded on vehicle.  FIXME: get num_wp from vehicle'''
         self.progress("test: Fly a mission from 1 to %u" % num_wp)
         self.set_current_waypoint(1)
 
@@ -2160,8 +2166,6 @@ class AutoTestCopter(AutoTest):
         self.wait_disarmed()
         self.progress("MOTORS DISARMED OK")
 
-        self.progress("Auto mission completed: passed!")
-
     # fly_auto_test using CAN GPS - fly mission which tests normal operation alongside CAN GPS
     def fly_auto_test_using_can_gps(self):
         self.set_parameter("CAN_P1_DRIVER", 1)
@@ -7196,6 +7200,57 @@ class AutoTestCopter(AutoTest):
         ret.extend(self.tests1e())
         return ret
 
+    def FETtecESC_flight(self):
+        '''fly with servo outputs from FETtec ESC'''
+        self.start_subtest("FETtec EC flight")
+        num_wp = self.load_mission("copter_mission.txt", strict=False)
+        self.fly_loaded_mission(num_wp)
+
+    def fettec_assert_bad_mask(self, mask):
+        '''assert the mask is bad for fettec driver'''
+        self.start_subsubtest("Checking mask (%s) is bad" % (mask,))
+        self.context_push()
+        self.set_parameter("SERVO_FTW_MASK", mask)
+        self.reboot_sitl()
+        tstart = self.get_sim_time()
+        while True:
+            if self.get_sim_time_cached() - tstart > 20:
+                raise NotAchievedException("Expected mask to be only problem within 20 seconds")
+            try:
+                self.assert_prearm_failure("Invalid motor mask; need consecuti")
+                break
+            except NotAchievedException:
+                self.delay_sim_time(1)
+        self.context_pop()
+        self.reboot_sitl()
+
+    def fettec_assert_good_mask(self, mask):
+        '''assert the mask is bad for fettec driver'''
+        self.start_subsubtest("Checking mask (%s) is good" % (mask,))
+        self.context_push()
+        self.set_parameter("SERVO_FTW_MASK", mask)
+        self.reboot_sitl()
+        self.wait_ready_to_arm()
+        self.context_pop()
+        self.reboot_sitl()
+
+    def FETtecESC_preflight_checks(self):
+        '''ensure prearm checks work as expected'''
+        for bad_mask in [0b101, 0b1010]:
+            self.fettec_assert_bad_mask(bad_mask)
+        for good_mask in [0b00001, 0b000011]:
+            self.fettec_assert_good_mask(good_mask)
+
+    def FETtecESC(self):
+        self.set_parameters({
+            "SERIAL5_PROTOCOL": 38,
+            "SERVO_FTW_MASK": 15,
+            "SIM_FTOWESC_ENA": 1,
+        })
+        self.customise_SITL_commandline(["--uartF=sim:fetteconewireesc"])
+        self.FETtecESC_preflight_checks()
+        self.FETtecESC_flight()
+
     def tests1a(self):
         '''return list of all tests'''
         ret = super(AutoTestCopter, self).tests()  # about 5 mins and ~20 initial tests from autotest/common.py
@@ -7655,6 +7710,10 @@ class AutoTestCopter(AutoTest):
                  "Test Replay",
                  self.test_replay),
 
+            Test("FETtecESC",
+                 "Test FETtecESC",
+                 self.FETtecESC),
+
             Test("GroundEffectCompensation_touchDownExpected",
                  "Test EKF's handling of touchdown-expected",
                  self.GroundEffectCompensation_touchDownExpected),