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autotest: tidy advanced failsafe test

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Peter Barker 2022-10-21 12:38:34 +11:00 committed by Andrew Tridgell
parent 7456d8149f
commit 4249fc04b7
1 changed files with 34 additions and 15 deletions
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49
Tools/autotest/common.py
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@ -10707,13 +10707,15 @@ switch value'''
def AdvancedFailsafe(self):
'''Test Advanced Failsafe'''
self.context_push()
ex = None
try:
self.drain_mav()
self.assert_no_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION)
self.set_parameter("AFS_ENABLE", 1)
self.set_parameter("SYSID_MYGCS", self.mav.source_system)
if self.is_plane(): # other vehicles can always terminate
self.assert_no_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION)
self.set_parameters({
"AFS_ENABLE": 1,
"SYSID_MYGCS": self.mav.source_system,
})
self.drain_mav()
self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION)
self.set_parameter("AFS_TERM_ACTION", 42)
@ -10721,19 +10723,29 @@ switch value'''
self.context_collect("STATUSTEXT")
self.change_mode("AUTO") # must go to auto for AFS to latch on
self.wait_statustext("AFS State: AFS_AUTO", check_context=True)
self.change_mode("MANUAL")
if self.is_plane():
self.change_mode("MANUAL")
elif self.is_copter():
self.change_mode("STABILIZE")
self.start_subtest("RC Failure")
self.set_parameter("AFS_RC_FAIL_TIME", 1)
self.set_parameter("SIM_RC_FAIL", 1)
self.context_push()
self.context_collect("STATUSTEXT")
self.set_parameters({
"AFS_RC_FAIL_TIME": 1,
"SIM_RC_FAIL": 1,
})
self.wait_statustext("Terminating due to RC failure", check_context=True)
self.set_parameter("AFS_RC_FAIL_TIME", 0)
self.set_parameter("SIM_RC_FAIL", 0)
self.context_pop()
self.set_parameter("AFS_TERMINATE", 0)
if not self.is_plane():
# plane requires a polygon fence...
self.start_subtest("Altitude Limit breach")
self.set_parameter("AFS_AMSL_LIMIT", 100)
self.set_parameters({
"AFS_AMSL_LIMIT": 100,
"AFS_QNH_PRESSURE": 1015.2,
})
self.do_fence_enable()
self.wait_statustext("Terminating due to fence breach", check_context=True)
self.set_parameter("AFS_AMSL_LIMIT", 0)
@ -10741,13 +10753,19 @@ switch value'''
self.do_fence_disable()
self.start_subtest("GPS Failure")
self.set_parameter("AFS_MAX_GPS_LOSS", 1)
self.set_parameter("SIM_GPS_DISABLE", 1)
self.context_push()
self.context_collect("STATUSTEXT")
self.set_parameters({
"AFS_MAX_GPS_LOSS": 1,
"SIM_GPS_DISABLE": 1,
})
self.wait_statustext("AFS State: GPS_LOSS", check_context=True)
self.set_parameter("SIM_GPS_DISABLE", 0)
self.set_parameter("AFS_MAX_GPS_LOSS", 0)
self.context_pop()
self.set_parameter("AFS_TERMINATE", 0)
self.start_subtest("GCS Request")
self.context_push()
self.context_collect("STATUSTEXT")
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_FLIGHTTERMINATION,
1, # terminate
@ -10759,6 +10777,8 @@ switch value'''
0,
)
self.wait_statustext("Terminating due to GCS request", check_context=True)
self.context_pop()
self.set_parameter("AFS_TERMINATE", 0)
except Exception as e:
ex = e
@ -10767,7 +10787,6 @@ switch value'''
except ValueError:
# may not actually be enabled....
pass
self.context_pop()
if ex is not None:
raise ex