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Autotest: Modify look_for_wiggle to test for individual servo movements

This commit is contained in:
Tarik 2024-10-01 02:25:35 -04:00 committed by Andrew Tridgell
parent 9d58bfb91e
commit 5ea787a46d
1 changed files with 15 additions and 6 deletions
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21
Tools/autotest/arduplane.py
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@ -5847,18 +5847,23 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
)
])
# Set initial conditions for servo wiggle testing
servo_wiggled = {1: False, 2: False, 4: False}
def look_for_wiggle(mav, m):
if m.get_type() == 'SERVO_OUTPUT_RAW':
# Throttle must be zero
if m.servo3_raw != 1000:
raise NotAchievedException(
"Throttle must be 0 in altitude wait, got %f" % m.servo3_raw)
# Aileron, elevator and rudder must all be the same
# However, aileron is revered, so we must un-reverse it
value = 1500 - (m.servo1_raw - 1500)
if (m.servo2_raw != value) or (m.servo4_raw != value):
raise NotAchievedException(
"Aileron, elevator and rudder must be the same")
# Check if all servos wiggle
if m.servo1_raw != 1500:
servo_wiggled[1] = True
if m.servo2_raw != 1500:
servo_wiggled[2] = True
if m.servo4_raw != 1500:
servo_wiggled[4] = True
# Start mission
self.change_mode('AUTO')
@ -5878,6 +5883,10 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
if not self.mode_is('AUTO'):
raise NotAchievedException("Must still be in AUTO")
# Raise error if not all servos have wiggled
if not all(servo_wiggled.values()):
raise NotAchievedException("Not all servos have moved within the test frame")
self.disarm_vehicle()
def start_flying_simple_rehome_mission(self, items):