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autotest: add test for DO_ENGINE_CONTROL

This commit is contained in:
Peter Barker 2023-08-25 12:35:51 +10:00 committed by Andrew Tridgell
parent 4103d5cdb9
commit 624d8f3964
1 changed files with 76 additions and 0 deletions
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76
Tools/autotest/quadplane.py
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@ -997,6 +997,81 @@ class AutoTestQuadPlane(AutoTest):
self.change_mode('AUTO')
self.wait_disarmed(timeout=300)
def MAV_CMD_DO_ENGINE_CONTROL(self):
'''test MAV_CMD_DO_ENGINE_CONTROL mavlink command'''
expected_idle_rpm_min = 65
expected_idle_rpm_max = 75
expected_starter_rpm_min = 345
expected_starter_rpm_max = 355
rc_engine_start_chan = 11
self.setup_ICEngine_vehicle(start_chan=rc_engine_start_chan)
self.wait_ready_to_arm()
for method in self.run_cmd, self.run_cmd_int:
self.change_mode('MANUAL')
self.set_rc(rc_engine_start_chan, 1500) # allow motor to run
self.wait_rpm(1, 0, 0, minimum_duration=1)
self.arm_vehicle()
self.wait_rpm(1, 0, 0, minimum_duration=1)
self.start_subtest("Start motor")
method(mavutil.mavlink.MAV_CMD_DO_ENGINE_CONTROL, p1=1)
self.wait_rpm(1, expected_starter_rpm_min, expected_starter_rpm_max)
self.wait_rpm(1, expected_idle_rpm_min, expected_idle_rpm_max, minimum_duration=10)
# starting the motor while it is running is failure
# (probably wrong, but that's how this works):
self.start_subtest("try start motor again")
self.context_collect('STATUSTEXT')
method(mavutil.mavlink.MAV_CMD_DO_ENGINE_CONTROL, p1=1, want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.wait_statustext("already running", check_context=True)
self.context_stop_collecting('STATUSTEXT')
# shouldn't affect run state:
self.wait_rpm(1, expected_idle_rpm_min, expected_idle_rpm_max, minimum_duration=1)
self.start_subtest("Stop motor")
method(mavutil.mavlink.MAV_CMD_DO_ENGINE_CONTROL, p1=0)
self.wait_rpm(1, 0, 0, minimum_duration=1)
self.start_subtest("Stop motor (again)")
method(mavutil.mavlink.MAV_CMD_DO_ENGINE_CONTROL, p1=0)
self.wait_rpm(1, 0, 0, minimum_duration=1)
self.start_subtest("Check start chan control disable")
old_start_channel_value = self.get_rc_channel_value(rc_engine_start_chan)
self.set_rc(rc_engine_start_chan, 1000)
self.context_collect('STATUSTEXT')
method(mavutil.mavlink.MAV_CMD_DO_ENGINE_CONTROL, p1=1, want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.wait_statustext("start control disabled", check_context=True)
self.context_stop_collecting('STATUSTEXT')
self.set_rc(rc_engine_start_chan, old_start_channel_value)
self.wait_rpm(1, 0, 0, minimum_duration=1)
self.start_subtest("test start-at-height")
self.wait_rpm(1, 0, 0, minimum_duration=1)
self.context_collect('STATUSTEXT')
method(
mavutil.mavlink.MAV_CMD_DO_ENGINE_CONTROL,
p1=1, # start
p3=15.5, # ... at 15.5 metres
)
self.wait_statustext("height set to 15.5m", check_context=True)
self.wait_rpm(1, 0, 0, minimum_duration=2)
self.takeoff(20, mode='GUIDED')
self.wait_rpm(1, expected_starter_rpm_min, expected_starter_rpm_max, minimum_duration=1)
self.wait_statustext("Engine running", check_context=True)
self.context_stop_collecting('STATUSTEXT')
# stop the motor again:
method(mavutil.mavlink.MAV_CMD_DO_ENGINE_CONTROL, p1=0)
self.wait_rpm(1, 0, 0, minimum_duration=1)
self.change_mode('QLAND')
self.wait_disarmed()
def Ship(self):
'''Ensure we can take off from simulated ship'''
self.context_push()
@ -1237,6 +1312,7 @@ class AutoTestQuadPlane(AutoTest):
self.Tailsitter,
self.ICEngine,
self.ICEngineMission,
self.MAV_CMD_DO_ENGINE_CONTROL,
self.MidAirDisarmDisallowed,
self.GUIDEDToAUTO,
self.BootInAUTO,