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autotest: add test for Sub MAV_CMD_MISSION_START

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Peter Barker 2023-09-28 09:28:37 +10:00 committed by Peter Barker
parent c1e12f691e
commit 41518a4fc0
1 changed files with 16 additions and 0 deletions
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16
Tools/autotest/ardusub.py
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@ -439,6 +439,21 @@ class AutoTestSub(AutoTest):
cmd(mavutil.mavlink.MAV_CMD_NAV_LAND) cmd(mavutil.mavlink.MAV_CMD_NAV_LAND)
self.assert_mode('SURFACE') self.assert_mode('SURFACE')
def MAV_CMD_MISSION_START(self):
'''test handling of MAV_CMD_NAV_LAND received via mavlink'''
self.upload_simple_relhome_mission([
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, 0),
(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
])
self.wait_ready_to_arm()
self.arm_vehicle()
for cmd in self.run_cmd, self.run_cmd_int:
self.change_mode('CIRCLE')
cmd(mavutil.mavlink.MAV_CMD_MISSION_START)
self.assert_mode('AUTO')
self.disarm_vehicle()
def tests(self): def tests(self):
'''return list of all tests''' '''return list of all tests'''
ret = super(AutoTestSub, self).tests() ret = super(AutoTestSub, self).tests()
@ -456,6 +471,7 @@ class AutoTestSub(AutoTest):
self.TestLogDownloadMAVProxy, self.TestLogDownloadMAVProxy,
self.MAV_CMD_NAV_LOITER_UNLIM, self.MAV_CMD_NAV_LOITER_UNLIM,
self.MAV_CMD_NAV_LAND, self.MAV_CMD_NAV_LAND,
self.MAV_CMD_MISSION_START,
]) ])
return ret return ret