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Tools: fixed autotest for throttle failsafe

This commit is contained in:
Andrew Tridgell 2019-08-26 16:37:42 +10:00
parent 296ce5a409
commit 6de85c4627
1 changed files with 4 additions and 25 deletions
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29
Tools/autotest/arduplane.py
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@ -799,16 +799,7 @@ class AutoTestPlane(AutoTest):
self.wait_mode('RTL') # long failsafe
self.progress("Ensure we've had our throttle squashed to 950")
self.wait_rc_channel_value(3, 950)
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
self.drain_mav_unparsed()
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
self.progress("Testing receiver enabled")
@ -822,10 +813,7 @@ class AutoTestPlane(AutoTest):
# if (m.onboard_control_sensors_health & receiver_bit):
# raise NotAchievedException("Sensor healthy when it shouldn't be")
self.set_parameter("SIM_RC_FAIL", 0)
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
self.drain_mav_unparsed()
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
self.progress("Testing receiver enabled")
if (not (m.onboard_control_sensors_enabled & receiver_bit)):
@ -835,23 +823,14 @@ class AutoTestPlane(AutoTest):
raise NotAchievedException("Receiver not present")
self.progress("Testing receiver health")
if (not (m.onboard_control_sensors_health & receiver_bit)):
raise NotAchievedException("Receiver not healthy")
raise NotAchievedException("Receiver not healthy2")
self.change_mode('MANUAL')
self.progress("Failing receiver (no-pulses)")
self.set_parameter("SIM_RC_FAIL", 1) # no-pulses
self.wait_mode('CIRCLE') # short failsafe
self.wait_mode('RTL') # long failsafe
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
self.drain_mav_unparsed()
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
self.progress("Testing receiver enabled")