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autotest: replace setHeartbeat(bool) with setHeartbeat(float) 

We don't do heartbeats at 1Hz - we do them at the speedup rate.
This commit is contained in:
Peter Barker 2019-11-08 17:41:14 +11:00 committed by Peter Barker
parent ece59f8233
commit 48657dd2c9
1 changed files with 22 additions and 26 deletions
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48
Tools/autotest/arducopter.py
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@ -187,12 +187,8 @@ class AutoTestCopter(AutoTest):
self.progress("Cotper staging 50 meters east of home at 50 meters altitude In mode Alt Hold")
# Start and stop the GCS heartbeat for GCS failsafe testing
def setHeartbeat(self, beating):
if beating == False:
self.mavproxy.send('set heartbeat 0\n')
else:
self.mavproxy.send('set heartbeat 1\n')
def set_heartbeat_interval(self, interval):
self.mavproxy.send('set heartbeat %u\n' % interval)
# loiter - fly south west, then loiter within 5m position and altitude
def loiter(self, holdtime=10, maxaltchange=5, maxdistchange=5):
@ -664,10 +660,10 @@ class AutoTestCopter(AutoTest):
self.start_subtest("GCS failsafe disabled test: FS_GCS_ENABLE=0 should take no failsafe action")
self.setGCSfailsafe(0)
self.takeoffAndMoveAway()
self.setHeartbeat(False)
self.set_heartbeat_interval(0)
self.delay_sim_time(5)
self.wait_mode("ALT_HOLD")
self.setHeartbeat(True)
self.set_heartbeat_interval(self.speedup)
self.delay_sim_time(5)
self.wait_mode("ALT_HOLD")
self.end_subtest("Completed GCS failsafe disabled test")
@ -675,19 +671,19 @@ class AutoTestCopter(AutoTest):
# Trigger telemetry loss with failsafe enabled. Verify failsafe tirggers to RTL. Restory telemety, verify failsafe clears, and change modes.
self.start_subtest("GCS failsafe recovery test")
self.setGCSfailsafe(1)
self.setHeartbeat(False)
self.set_heartbeat_interval(0)
self.wait_mode("RTL")
self.setHeartbeat(True)
self.set_heartbeat_interval(self.speedup)
self.mavproxy.expect("GCS Failsafe Cleared")
self.change_mode("LOITER")
self.end_subtest("Completed GCS failsafe recovery test")
# Trigger telemetry loss with failsafe enabled. Verify failsafe tirggers and RTL completes
self.start_subtest("GCS failsafe RTL with no options test: FS_GCS_ENABLE=1 & FS_OPTIONS=0")
self.setHeartbeat(False)
self.set_heartbeat_interval(0)
self.wait_mode("RTL")
self.mav.motors_disarmed_wait()
self.setHeartbeat(True)
self.set_heartbeat_interval(self.speedup)
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe RTL with no options test")
@ -695,10 +691,10 @@ class AutoTestCopter(AutoTest):
self.start_subtest("GCS failsafe LAND with no options test: FS_GCS_ENABLE=5 & FS_OPTIONS=0")
self.setGCSfailsafe(5)
self.takeoffAndMoveAway()
self.setHeartbeat(False)
self.set_heartbeat_interval(0)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.setHeartbeat(True)
self.set_heartbeat_interval(self.speedup)
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe land with no options test")
@ -706,10 +702,10 @@ class AutoTestCopter(AutoTest):
self.start_subtest("GCS failsafe SmartRTL->RTL with no options test: FS_GCS_ENABLE=3 & FS_OPTIONS=0")
self.setGCSfailsafe(3)
self.takeoffAndMoveAway()
self.setHeartbeat(False)
self.set_heartbeat_interval(0)
self.wait_mode("SMART_RTL")
self.mav.motors_disarmed_wait()
self.setHeartbeat(True)
self.set_heartbeat_interval(self.speedup)
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe SmartRTL->RTL with no options test")
@ -717,10 +713,10 @@ class AutoTestCopter(AutoTest):
self.start_subtest("GCS failsafe SmartRTL->Land with no options test: FS_GCS_ENABLE=4 & FS_OPTIONS=0")
self.setGCSfailsafe(4)
self.takeoffAndMoveAway()
self.setHeartbeat(False)
self.set_heartbeat_interval(0)
self.wait_mode("SMART_RTL")
self.mav.motors_disarmed_wait()
self.setHeartbeat(True)
self.set_heartbeat_interval(self.speedup)
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe SmartRTL->Land with no options test")
@ -728,10 +724,10 @@ class AutoTestCopter(AutoTest):
self.start_subtest("GCS failsafe invalid value with no options test: FS_GCS_ENABLE=99 & FS_OPTIONS=0")
self.setGCSfailsafe(99)
self.takeoffAndMoveAway()
self.setHeartbeat(False)
self.set_heartbeat_interval(0)
self.wait_mode("RTL")
self.mav.motors_disarmed_wait()
self.setHeartbeat(True)
self.set_heartbeat_interval(self.speedup)
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe invalid value with no options test")
@ -744,34 +740,34 @@ class AutoTestCopter(AutoTest):
self.set_parameter('FS_OPTIONS', 16)
self.takeoffAndMoveAway()
self.progress("Testing continue in pilot controlled modes")
self.setHeartbeat(False)
self.set_heartbeat_interval(0)
self.mavproxy.expect("GCS Failsafe - Continuing Pilot Control")
self.delay_sim_time(5)
self.wait_mode("ALT_HOLD")
self.setHeartbeat(True)
self.set_heartbeat_interval(self.speedup)
self.mavproxy.expect("GCS Failsafe Cleared")
self.progress("Testing continue in auto mission")
self.set_parameter('FS_OPTIONS', 2)
self.change_mode("AUTO")
self.delay_sim_time(5)
self.setHeartbeat(False)
self.set_heartbeat_interval(0)
self.mavproxy.expect("GCS Failsafe - Continuing Auto Mode")
self.delay_sim_time(5)
self.wait_mode("AUTO")
self.setHeartbeat(True)
self.set_heartbeat_interval(self.speedup)
self.mavproxy.expect("GCS Failsafe Cleared")
self.progress("Testing continue landing in land mode")
self.set_parameter('FS_OPTIONS', 8)
self.change_mode("LAND")
self.delay_sim_time(5)
self.setHeartbeat(False)
self.set_heartbeat_interval(0)
self.mavproxy.expect("GCS Failsafe - Continuing Landing")
self.delay_sim_time(5)
self.wait_mode("LAND")
self.mav.motors_disarmed_wait()
self.setHeartbeat(True)
self.set_heartbeat_interval(self.speedup)
self.mavproxy.expect("GCS Failsafe Cleared")
self.end_subtest("Completed GCS failsafe with option bits")