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autotest: add test for MAV_CMD_AIRFRAME_CONFIGURATION

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Peter Barker 2023-09-20 20:37:49 +10:00 committed by Andrew Tridgell
parent e8792eec68
commit 489bb2c897
1 changed files with 33 additions and 0 deletions
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33
Tools/autotest/arducopter.py
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@ -7675,6 +7675,38 @@ class AutoTestCopter(AutoTest):
self.change_mode('AUTO')
self.wait_rtl_complete()
def MAV_CMD_AIRFRAME_CONFIGURATION(self):
'''deploy/retract landing gear using mavlink command'''
self.context_push()
self.set_parameters({
"LGR_ENABLE": 1,
"SERVO10_FUNCTION": 29,
"SERVO10_MIN": 1001,
"SERVO10_MAX": 1999,
})
self.reboot_sitl()
# starts loose:
self.wait_servo_channel_value(10, 0)
# 0 is down:
self.start_subtest("Put gear down")
self.run_cmd(mavutil.mavlink.MAV_CMD_AIRFRAME_CONFIGURATION, p2=0)
self.wait_servo_channel_value(10, 1999)
# 1 is up:
self.start_subtest("Put gear up")
self.run_cmd_int(mavutil.mavlink.MAV_CMD_AIRFRAME_CONFIGURATION, p2=1)
self.wait_servo_channel_value(10, 1001)
# 0 is down:
self.start_subtest("Put gear down")
self.run_cmd(mavutil.mavlink.MAV_CMD_AIRFRAME_CONFIGURATION, p2=0)
self.wait_servo_channel_value(10, 1999)
self.context_pop()
self.reboot_sitl()
def WatchAlts(self):
'''Ensure we can monitor different altitudes'''
self.takeoff(30, mode='GUIDED')
@ -9967,6 +9999,7 @@ class AutoTestCopter(AutoTest):
self.IE24,
self.MAVLandedStateTakeoff,
self.Weathervane,
self.MAV_CMD_AIRFRAME_CONFIGURATION,
])
return ret