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autotest: test MAV_CMD_CONTROL_HIGH_LATENCY as both long and int

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Peter Barker 2023-10-24 13:23:45 +11:00 committed by Peter Barker
parent 62af92ef8a
commit 5e55e143cc
1 changed files with 14 additions and 11 deletions
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25
Tools/autotest/common.py
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@ -1901,12 +1901,14 @@ class AutoTest(ABC):
def run_cmd_run_prearms(self):
self.run_cmd(mavutil.mavlink.MAV_CMD_RUN_PREARM_CHECKS)
def run_cmd_enable_high_latency(self, new_state):
def run_cmd_enable_high_latency(self, new_state, run_cmd=None):
if run_cmd is None:
run_cmd = self.run_cmd
p1 = 0
if new_state:
p1 = 1
self.run_cmd(
run_cmd(
mavutil.mavlink.MAV_CMD_CONTROL_HIGH_LATENCY,
p1=p1, # enable/disable
)
@ -3384,16 +3386,17 @@ class AutoTest(ABC):
self.assert_not_receive_message('HIGH_LATENCY2', mav=mav, timeout=10)
self.start_subsubtest("Get HIGH_LATENCY2 upon link enabled only on HL link")
self.run_cmd_enable_high_latency(True)
self.assert_receive_message("HIGH_LATENCY2", mav=mav2, timeout=10)
self.assert_not_receive_message("HIGH_LATENCY2", mav=self.mav, timeout=10)
for run_cmd in self.run_cmd, self.run_cmd_int:
self.run_cmd_enable_high_latency(True, run_cmd=run_cmd)
self.assert_receive_message("HIGH_LATENCY2", mav=mav2, timeout=10)
self.assert_not_receive_message("HIGH_LATENCY2", mav=self.mav, timeout=10)
self.start_subsubtest("Not get HIGH_LATENCY2 upon HL disable")
self.run_cmd_enable_high_latency(False)
self.delay_sim_time(10)
self.assert_not_receive_message('HIGH_LATENCY2', mav=self.mav, timeout=10)
self.drain_mav(mav2)
self.assert_not_receive_message('HIGH_LATENCY2', mav=mav2, timeout=10)
self.start_subsubtest("Not get HIGH_LATENCY2 upon HL disable")
self.run_cmd_enable_high_latency(False, run_cmd=run_cmd)
self.delay_sim_time(10)
self.assert_not_receive_message('HIGH_LATENCY2', mav=self.mav, timeout=10)
self.drain_mav(mav2)
self.assert_not_receive_message('HIGH_LATENCY2', mav=mav2, timeout=10)
self.start_subsubtest("Stream rate adjustments")
self.run_cmd_enable_high_latency(True)