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Tools: autotest: Plane: add min throttle test

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Iampete1 2024-02-27 00:19:06 +00:00 committed by Andrew Tridgell
parent 674f75fce1
commit 4a310fb207
1 changed files with 33 additions and 0 deletions
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33
Tools/autotest/arduplane.py
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@ -5312,6 +5312,38 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
home = self.home_position_as_mav_location()
self.assert_distance(home, adsb_vehicle_loc, 0, 10000)
def MinThrottle(self):
'''Make sure min throttle does not apply in manual mode and does in FBWA'''
servo_min = self.get_parameter("RC3_MIN")
servo_max = self.get_parameter("RC3_MAX")
min_throttle = 10
servo_min_throttle = servo_min + (servo_max - servo_min) * (min_throttle / 100)
# Set min throttle
self.set_parameter('THR_MIN', min_throttle)
# Should be 0 throttle while disarmed
self.change_mode("MANUAL")
self.drain_mav() # make sure we have the latest data before checking throttle output
self.assert_servo_channel_value(3, servo_min)
# Arm and check throttle is still 0 in manual
self.wait_ready_to_arm()
self.arm_vehicle()
self.drain_mav()
self.assert_servo_channel_value(3, servo_min)
# FBWA should apply throttle min
self.change_mode("FBWA")
self.drain_mav()
self.assert_servo_channel_value(3, servo_min_throttle)
# But not when disarmed
self.disarm_vehicle()
self.drain_mav()
self.assert_servo_channel_value(3, servo_min)
def tests(self):
'''return list of all tests'''
ret = super(AutoTestPlane, self).tests()
@ -5419,6 +5451,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.TerrainRally,
self.MAV_CMD_NAV_LOITER_UNLIM,
self.MAV_CMD_NAV_RETURN_TO_LAUNCH,
self.MinThrottle,
])
return ret