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Tools: autotest: add test for RCn_OPTION - camera trigger

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This commit is contained in:
Peter Barker 2018-08-03 20:50:15 +10:00
parent f47823f4e4
commit 56646651c6
1 changed files with 23 additions and 0 deletions
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23
Tools/autotest/arduplane.py
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@ -12,6 +12,7 @@ from pysim import util
from common import AutoTest
from common import NotAchievedException
from common import PreconditionFailedException
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
@ -547,6 +548,22 @@ class AutoTestPlane(AutoTest):
if off:
raise NotAchievedException()
def test_rc_option_camera_trigger(self):
'''test toggling channel 12 takes picture'''
x = self.mav.messages.get("CAMERA_FEEDBACK", None)
if x is not None:
raise PreconditionFailedException()
self.set_rc(12, 2000)
tstart = self.get_sim_time()
while self.get_sim_time() - tstart < 1:
x = self.mav.messages.get("CAMERA_FEEDBACK", None)
if x is not None:
break
self.mav.wait_heartbeat()
self.set_rc(12, 1000)
if x is None:
raise NotAchievedException()
def autotest(self):
"""Autotest ArduPlane in SITL."""
self.check_test_syntax(test_file=os.path.realpath(__file__))
@ -563,6 +580,12 @@ class AutoTestPlane(AutoTest):
self.set_rc(3, 1000)
self.set_rc(8, 1800)
self.set_parameter("RC12_OPTION", 9)
self.reboot_sitl() # needed for RC12_OPTION to take effect
self.run_test("Test RC Option - Camera Trigger",
self.test_rc_option_camera_trigger)
self.set_parameter("RC12_OPTION", 28)
self.reboot_sitl() # needed for RC12_OPTION to take effect