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autotest: update SIM_ENGINE_FAIL to mask

This commit is contained in:
Bob Long 2024-12-17 13:12:23 +11:00 committed by Andrew Tridgell
parent dee88b4ecb
commit 726e05afb2
2 changed files with 15 additions and 15 deletions
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20
Tools/autotest/arducopter.py
View File

@ -1374,7 +1374,10 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
# cut motor 1's to efficiency # cut motor 1's to efficiency
self.progress("Cutting motor 1 to 65% efficiency") self.progress("Cutting motor 1 to 65% efficiency")
self.set_parameter("SIM_ENGINE_MUL", 0.65) self.set_parameters({
"SIM_ENGINE_MUL": 0.65,
"SIM_ENGINE_FAIL": 1 << 0, # motor 1
})
while self.get_sim_time_cached() < tstart + holdtime: while self.get_sim_time_cached() < tstart + holdtime:
m = self.mav.recv_match(type='VFR_HUD', blocking=True) m = self.mav.recv_match(type='VFR_HUD', blocking=True)
@ -3285,8 +3288,8 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.progress("Killing motor %u (%u%%)" % self.progress("Killing motor %u (%u%%)" %
(fail_servo+1, fail_mul)) (fail_servo+1, fail_mul))
self.set_parameters({ self.set_parameters({
"SIM_ENGINE_FAIL": fail_servo,
"SIM_ENGINE_MUL": fail_mul, "SIM_ENGINE_MUL": fail_mul,
"SIM_ENGINE_FAIL": 1 << fail_servo,
}) })
failed = True failed = True
@ -3345,10 +3348,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
raise NotAchievedException("Vehicle is descending") raise NotAchievedException("Vehicle is descending")
self.progress("Fixing motors") self.progress("Fixing motors")
self.set_parameters({ self.set_parameter("SIM_ENGINE_FAIL", 0)
"SIM_ENGINE_FAIL": 0,
"SIM_ENGINE_MUL": 1.0,
})
self.do_RTL() self.do_RTL()
@ -4170,8 +4170,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.takeoff(40) self.takeoff(40)
self.set_rc(9, 1500) self.set_rc(9, 1500)
self.set_parameters({ self.set_parameters({
"SIM_ENGINE_MUL": 0, "SIM_ENGINE_FAIL": 1 << 1, # motor 2
"SIM_ENGINE_FAIL": 1,
}) })
self.wait_statustext('BANG! Parachute deployed', timeout=60) self.wait_statustext('BANG! Parachute deployed', timeout=60)
self.set_rc(9, 1000) self.set_rc(9, 1000)
@ -4184,8 +4183,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.takeoff(loiter_alt, mode='LOITER') self.takeoff(loiter_alt, mode='LOITER')
self.set_rc(9, 1100) self.set_rc(9, 1100)
self.set_parameters({ self.set_parameters({
"SIM_ENGINE_MUL": 0, "SIM_ENGINE_FAIL": 1 << 1, # motor 2
"SIM_ENGINE_FAIL": 1,
}) })
tstart = self.get_sim_time() tstart = self.get_sim_time()
while self.get_sim_time_cached() < tstart + 5: while self.get_sim_time_cached() < tstart + 5:
@ -12024,8 +12022,8 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.context_push() self.context_push()
self.context_collect('STATUSTEXT') self.context_collect('STATUSTEXT')
self.set_parameters({ self.set_parameters({
"SIM_ENGINE_FAIL": 1,
"SIM_ENGINE_MUL": 0.5, "SIM_ENGINE_MUL": 0.5,
"SIM_ENGINE_FAIL": 1 << 1, # motor 2
"FLIGHT_OPTIONS": 4, "FLIGHT_OPTIONS": 4,
}) })

10
Tools/autotest/quadplane.py
View File

@ -767,8 +767,7 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
"Q_WVANE_ENABLE": 1, "Q_WVANE_ENABLE": 1,
"Q_WVANE_GAIN": 1, "Q_WVANE_GAIN": 1,
"STICK_MIXING": 0, "STICK_MIXING": 0,
"Q_FWD_THR_USE": 2, "Q_FWD_THR_USE": 2})
"SIM_ENGINE_FAIL": 2}) # we want to fail the forward thrust motor only
self.takeoff(10, mode="QLOITER") self.takeoff(10, mode="QLOITER")
self.set_rc(2, 1000) self.set_rc(2, 1000)
@ -785,7 +784,7 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
self.set_rc(2, 1500) self.set_rc(2, 1500)
self.delay_sim_time(5) self.delay_sim_time(5)
loc1 = self.mav.location() loc1 = self.mav.location()
self.set_parameter("SIM_ENGINE_MUL", 0) # simulate a complete loss of forward motor thrust self.set_parameter("SIM_ENGINE_FAIL", 1 << 2) # simulate a complete loss of forward motor thrust
self.delay_sim_time(20) self.delay_sim_time(20)
self.change_mode('QLAND') self.change_mode('QLAND')
self.wait_disarmed(timeout=60) self.wait_disarmed(timeout=60)
@ -1475,7 +1474,10 @@ class AutoTestQuadPlane(vehicle_test_suite.TestSuite):
(p, new_values[p], threshold)) (p, new_values[p], threshold))
self.progress("ensure we are not overtuned") self.progress("ensure we are not overtuned")
self.set_parameter('SIM_ENGINE_MUL', 0.9) self.set_parameters({
'SIM_ENGINE_MUL': 0.9,
'SIM_ENGINE_FAIL': 1 << 0,
})
self.delay_sim_time(5) self.delay_sim_time(5)