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Tools: add tests for MAV_CMD_DO_LAND_START for both int and long

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Peter Barker 2023-09-28 17:15:08 +10:00 committed by Andrew Tridgell
parent e965b987f6
commit 3dfd06cff2
1 changed files with 32 additions and 0 deletions
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32
Tools/autotest/arduplane.py
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@ -4952,6 +4952,37 @@ class AutoTestPlane(AutoTest):
self._MAV_CMD_DO_FLIGHTTERMINATION(self.run_cmd)
self._MAV_CMD_DO_FLIGHTTERMINATION(self.run_cmd_int)
def MAV_CMD_DO_LAND_START(self):
'''test MAV_CMD_DO_LAND_START as mavlink command'''
self.set_parameters({
"RTL_AUTOLAND": 3,
})
self.upload_simple_relhome_mission([
(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 30),
(mavutil.mavlink.MAV_CMD_NAV_LOITER_UNLIM, 0, 0, 30),
self.create_MISSION_ITEM_INT(
mavutil.mavlink.MAV_CMD_DO_LAND_START,
),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 800, 0, 0),
])
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.start_subtest("DO_LAND_START as COMMAND_LONG")
self.wait_current_waypoint(2)
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_LAND_START)
self.wait_current_waypoint(4)
self.start_subtest("DO_LAND_START as COMMAND_INT")
self.set_current_waypoint(2)
self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_LAND_START)
self.wait_current_waypoint(4)
self.fly_home_land_and_disarm()
def tests(self):
'''return list of all tests'''
ret = super(AutoTestPlane, self).tests()
@ -5049,6 +5080,7 @@ class AutoTestPlane(AutoTest):
self.MAV_CMD_DO_AUTOTUNE_ENABLE,
self.MAV_CMD_DO_GO_AROUND,
self.MAV_CMD_DO_FLIGHTTERMINATION,
self.MAV_CMD_DO_LAND_START,
])
return ret