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autotest: add battery_charge_state ok & low tests

This commit is contained in:
Josh Henderson 2021-08-17 06:19:29 -04:00 committed by Peter Barker
parent a9eb4ecd22
commit 70166c8173
1 changed files with 7 additions and 1 deletions
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8
Tools/autotest/arducopter.py
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@ -934,15 +934,21 @@ class AutoTestCopter(AutoTest):
# no action taken.
self.start_subtest("Batt failsafe disabled test")
self.takeoffAndMoveAway()
m = self.mav.recv_match(type='BATTERY_STATUS', blocking=True, timeout=1)
if m.charge_state != mavutil.mavlink.MAV_BATTERY_CHARGE_STATE_OK:
raise NotAchievedException("Expected state ok")
self.set_parameter('SIM_BATT_VOLTAGE', 11.4)
self.wait_statustext("Battery 1 is low", timeout=60)
m = self.mav.recv_match(type='BATTERY_STATUS', blocking=True, timeout=1)
if m.charge_state != mavutil.mavlink.MAV_BATTERY_CHARGE_STATE_LOW:
raise NotAchievedException("Expected state low")
self.delay_sim_time(5)
self.wait_mode("ALT_HOLD")
self.set_parameter('SIM_BATT_VOLTAGE', 10.0)
self.wait_statustext("Battery 1 is critical", timeout=60)
m = self.mav.recv_match(type='BATTERY_STATUS', blocking=True, timeout=1)
if m.charge_state != mavutil.mavlink.MAV_BATTERY_CHARGE_STATE_CRITICAL:
raise NotAchievedException("Execpted state critical")
raise NotAchievedException("Expected state critical")
self.delay_sim_time(5)
self.wait_mode("ALT_HOLD")
self.change_mode("RTL")