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autotest: fix Copter motortest test

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We were swallowing all of the rc output containing the values we were
looking for.

Rearrange so we don't swallow where we were, and increase timeout on the
basis that there's still a narrow race.
This commit is contained in:
Peter Barker 2020-09-22 16:04:33 +10:00 committed by Peter Barker
parent d5722b15e9
commit 64461dba5e
1 changed files with 10 additions and 10 deletions
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20
Tools/autotest/arducopter.py
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@ -2565,7 +2565,7 @@ class AutoTestCopter(AutoTest):
2, # start motor
mavutil.mavlink.MOTOR_TEST_THROTTLE_PWM,
pwm_in, # pwm-to-output
1, # timeout in seconds
2, # timeout in seconds
2, # number of motors to output
0, # compass learning
0,
@ -2578,19 +2578,19 @@ class AutoTestCopter(AutoTest):
self.start_subtest("Testing percentage output")
percentage = 90.1
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_MOTOR_TEST,
2, # start motor
mavutil.mavlink.MOTOR_TEST_THROTTLE_PERCENT,
percentage, # pwm-to-output
1, # timeout in seconds
2, # number of motors to output
0, # compass learning
0,
timeout=timeout)
# since MOT_SPIN_MIN and MOT_SPIN_MAX are not set, the RC3
# min/max are used.
expected_pwm = 1000 + (self.get_parameter("RC3_MAX") - self.get_parameter("RC3_MIN")) * percentage/100.0
self.progress("expected pwm=%f" % expected_pwm)
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_MOTOR_TEST,
2, # start motor
mavutil.mavlink.MOTOR_TEST_THROTTLE_PERCENT,
percentage, # pwm-to-output
2, # timeout in seconds
2, # number of motors to output
0, # compass learning
0,
timeout=timeout)
self.wait_servo_channel_value(1, expected_pwm, timeout=10)
self.wait_servo_channel_value(4, expected_pwm, timeout=10)
self.wait_statustext("finished motor test")