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autotest: add test for Sub entering circle twice

This commit is contained in:
Peter Barker 2021-06-23 15:58:52 +10:00 committed by Peter Barker
parent 67eb6d17eb
commit 5ec82851d0
1 changed files with 12 additions and 0 deletions
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12
Tools/autotest/ardusub.py
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@ -367,6 +367,14 @@ class AutoTestSub(AutoTest):
break break
self.initialise_after_reboot_sitl() self.initialise_after_reboot_sitl()
def DoubleCircle(self):
self.change_mode('CIRCLE')
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('STABILIZE')
self.change_mode('CIRCLE')
self.disarm_vehicle()
def default_parameter_list(self): def default_parameter_list(self):
ret = super(AutoTestSub, self).default_parameter_list() ret = super(AutoTestSub, self).default_parameter_list()
ret["FS_GCS_ENABLE"] = 0 # FIXME ret["FS_GCS_ENABLE"] = 0 # FIXME
@ -397,6 +405,10 @@ class AutoTestSub(AutoTest):
"Test gripper mission items", "Test gripper mission items",
self.test_gripper_mission), self.test_gripper_mission),
("DoubleCircle",
"Test entering circle twice",
self.DoubleCircle),
("MotorThrustHoverParameterIgnore", "Test if we are ignoring MOT_THST_HOVER", self.test_mot_thst_hover_ignore), ("MotorThrustHoverParameterIgnore", "Test if we are ignoring MOT_THST_HOVER", self.test_mot_thst_hover_ignore),
("SET_POSITION_TARGET_GLOBAL_INT", ("SET_POSITION_TARGET_GLOBAL_INT",