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autotest: more changes for plane disarm disallow

This commit is contained in:
Andrew Tridgell 2022-03-09 08:15:15 +11:00 committed by Peter Barker
parent a98e913a2a
commit 6fcf85edb8
3 changed files with 22 additions and 19 deletions
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8
Tools/autotest/arduplane.py
View File

@ -1038,7 +1038,7 @@ class AutoTestPlane(AutoTest):
"SIM_RC_FAIL": 0, # fix receiver
})
self.zero_throttle()
self.disarm_vehicle()
self.disarm_vehicle(force=True)
self.context_pop()
self.reboot_sitl()
@ -2268,7 +2268,7 @@ function'''
self.wait_waypoint(4, 4, timeout=1200, max_dist=120)
# Disarm
self.disarm_vehicle()
self.disarm_vehicle_expect_fail()
self.progress("Mission OK")
@ -2365,7 +2365,7 @@ function'''
raise NotAchievedException("Airspeed did not reduce with lower SOAR_VSPEED")
# Disarm
self.disarm_vehicle()
self.disarm_vehicle_expect_fail()
self.progress("Mission OK")
@ -2872,7 +2872,7 @@ function'''
self.context_clear_collection("STATUSTEXT")
###################################################################
self.disarm_vehicle()
self.disarm_vehicle(force=True)
except Exception as e:
self.print_exception_caught(e)

18
Tools/autotest/common.py
View File

@ -4361,6 +4361,22 @@ class AutoTest(ABC):
timeout=timeout)
return self.wait_disarmed()
def disarm_vehicle_expect_fail(self):
'''disarm, checking first that non-forced disarm fails, then doing a forced disarm'''
self.progress("Disarm - expect to fail")
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
0, # DISARM
0,
0,
0,
0,
0,
0,
timeout=10,
want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.progress("Disarm - forced")
self.disarm_vehicle(force=True)
def wait_disarmed_default_wait_time(self):
return 30
@ -11191,7 +11207,7 @@ switch value'''
# ok done, stop the engine
if self.is_plane():
self.zero_throttle()
if not self.disarm_vehicle():
if not self.disarm_vehicle(force=True):
raise NotAchievedException("Failed to DISARM")
def test_frsky_d(self):

15
Tools/autotest/quadplane.py
View File

@ -248,20 +248,7 @@ class AutoTestQuadPlane(AutoTest):
self.progress("Waiting for Motor1 to speed up")
self.wait_servo_channel_value(5, spin_min_pwm, comparator=operator.ge)
self.progress("Disarm/rearm with GCS - expect to fail")
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
0, # DISARM
0,
0,
0,
0,
0,
0,
timeout=10,
want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.progress("Disarm/rearm with GCS - forced")
self.disarm_vehicle(force=True)
self.disarm_vehicle_expect_fail()
self.arm_vehicle()
self.progress("Verify that airmode is still on")