Tools: autotest: add some tests for Copter parachute functions

Tools/autotest/arducopter.py

@@ -1504,6 +1504,54 @@ class AutoTestCopter(AutoTest):
         if ex is not None:
             raise ex
 
+    def test_parachute(self):
+
+        self.set_rc(9, 1000)
+        self.set_parameter("CHUTE_ENABLED", 1)
+        self.set_parameter("CHUTE_TYPE", 10)
+        self.set_parameter("SERVO9_FUNCTION", 27)
+        self.set_parameter("SIM_PARA_ENABLE", 1)
+        self.set_parameter("SIM_PARA_PIN", 9)
+
+        self.progress("Testing three-position switch")
+        self.set_parameter("RC9_OPTION", 23) # parachute 3pos
+
+        self.progress("Test manual triggering")
+        self.takeoff(20)
+        self.set_rc(9, 2000)
+        self.mavproxy.expect('BANG')
+        self.set_rc(9, 1000)
+        self.reboot_sitl()
+
+        self.context_push()
+        self.progress("Crashing with 3pos switch in enable position")
+        self.takeoff(40)
+        self.set_rc(9, 1500)
+        self.set_parameter("SIM_ENGINE_MUL", 0)
+        self.set_parameter("SIM_ENGINE_FAIL", 1)
+        self.mavproxy.expect('BANG')
+        self.set_rc(9, 1000)
+        self.reboot_sitl()
+        self.context_pop();
+
+        self.progress("Crashing with 3pos switch in disable position")
+        loiter_alt = 10
+        self.takeoff(loiter_alt, mode='LOITER')
+        self.set_rc(9, 1100)
+        self.set_parameter("SIM_ENGINE_MUL", 0)
+        self.set_parameter("SIM_ENGINE_FAIL", 1)
+        tstart = self.get_sim_time()
+        while self.get_sim_time_cached() < tstart + 5:
+            m = self.mav.recv_match(type='STATUSTEXT', blocking=True, timeout=1)
+            if m is None:
+                continue
+            if "BANG" in m.text:
+                self.set_rc(9, 1000)
+                self.reboot_sitl()
+                raise NotAchievedException("Parachute deployed when disabled")
+        self.set_rc(9, 1000)
+        self.reboot_sitl()
+
     def fly_precision_sitl(self):
         """Use SITL PrecLand backend precision messages to land aircraft."""
 
@@ -2612,6 +2660,10 @@ class AutoTestCopter(AutoTest):
              "Test RangeFinder Basic Functionality",
              self.test_rangefinder),
 
+            ("Parachute",
+             "Test Parachute Functionality",
+             self.test_parachute),
+
             ("LogDownLoad",
              "Log download",
              lambda: self.log_download(

Tools/autotest/arduplane.py

@@ -690,11 +690,6 @@ class AutoTestPlane(AutoTest):
         if ex is not None:
             raise ex
 
-    def start_subtest(self, description):
-        self.progress("-")
-        self.progress("---------- %s  ----------" % description)
-        self.progress("-")
-
     def run_subtest(self, desc, func):
         self.start_subtest(desc)
         func()

Tools/autotest/common.py

@@ -2003,6 +2003,11 @@ switch value'''
         self.progress("Waiting for mode-switch mode %s" % want)
         self.wait_mode(want)
 
+    def start_subtest(self, description):
+        self.progress("-")
+        self.progress("---------- %s  ----------" % description)
+        self.progress("-")
+
     def run_tests(self, tests):
         """Autotest vehicle in SITL."""
         self.check_test_syntax(test_file=os.path.realpath(__file__))