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autotest: add test for Plane MAV_CMD_DO_PARACUTE

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Peter Barker 2023-09-19 18:37:31 +10:00 committed by Andrew Tridgell
parent 63c88fea58
commit 712237ec3a
1 changed files with 23 additions and 0 deletions
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23
Tools/autotest/arduplane.py
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@ -4879,6 +4879,28 @@ class AutoTestPlane(AutoTest):
self.fly_home_land_and_disarm()
def DO_PARACHUTE(self):
'''test triggering parachute via mavlink'''
self.set_parameters({
"CHUTE_ENABLED": 1,
"CHUTE_TYPE": 10,
"SERVO9_FUNCTION": 27,
"SIM_PARA_ENABLE": 1,
"SIM_PARA_PIN": 9,
"FS_LONG_ACTN": 3,
})
for command in self.run_cmd, self.run_cmd_int:
self.wait_servo_channel_value(9, 1100)
self.wait_ready_to_arm()
self.arm_vehicle()
command(
mavutil.mavlink.MAV_CMD_DO_PARACHUTE,
p1=mavutil.mavlink.PARACHUTE_RELEASE,
)
self.wait_servo_channel_value(9, 1300)
self.disarm_vehicle()
self.reboot_sitl()
def tests(self):
'''return list of all tests'''
ret = super(AutoTestPlane, self).tests()
@ -4897,6 +4919,7 @@ class AutoTestPlane(AutoTest):
self.TestGripperMission,
self.Parachute,
self.ParachuteSinkRate,
self.DO_PARACHUTE,
self.PitotBlockage,
self.AIRSPEED_AUTOCAL,
self.RangeFinder,