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autotest: check local home location

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m 2022-09-05 22:54:19 +03:00 committed by Peter Barker
parent 652b361bc0
commit 635df2ca45
2 changed files with 29 additions and 0 deletions
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1
Tools/autotest/arducopter.py
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@ -8946,6 +8946,7 @@ class AutoTestCopter(AutoTest):
self.TakeoffAlt,
self.SplineLastWaypoint,
self.Gripper,
self.TestLocalHomePosition,
self.TestGripperMission,
self.VisionPosition,
self.ATTITUDE_FAST,

28
Tools/autotest/common.py
View File

@ -9553,6 +9553,34 @@ Also, ignores heartbeats not from our target system'''
self.context_pop()
self.reboot_sitl()
def TestLocalHomePosition(self):
"""Test local home position is sent in HOME_POSITION message"""
self.context_push()
self.wait_ready_to_arm()
# set home to a new location
self.mav.mav.command_long_send(1,
1,
mavutil.mavlink.MAV_CMD_DO_SET_HOME,
0,
0,
0,
0,
0,
-35.357466,
149.142589,
630)
# check home after home set
m = self.assert_receive_message("HOME_POSITION", timeout=5)
if abs(m.x) < 10 or abs(m.y) < 10 or abs(m.z) < 10:
raise NotAchievedException("Failed to get local home position: (got=%u, %u, %u)", m.x, m.y, m.z)
else:
self.progress(f"Received local home position successfully: (got={m.x}, {m.y}, {m.z})")
self.context_pop()
self.reboot_sitl()
def install_terrain_handlers_context(self):
'''install a message handler into the current context which will
listen for an fulfill terrain requests from ArduPilot. Will