Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Tools: autotest: add simple test for Copter flying with MANUAL_CONTROL

Browse Source
This commit is contained in:
Peter Barker 2019-03-27 12:31:06 +11:00 committed by Peter Barker
parent 5d8747c81d
commit 74e4a7047f
1 changed files with 39 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

39
Tools/autotest/arducopter.py
View File

@ -2818,6 +2818,41 @@ class AutoTestCopter(AutoTest):
ret[5] = 1800 # mode switch
return ret
def test_manual_control(self):
'''test manual_control mavlink message'''
self.change_mode('STABILIZE')
self.takeoff(10)
tstart = self.get_sim_time_cached()
want_pitch_degrees = -20
while True:
if self.get_sim_time_cached() - tstart > 10:
raise AutoTestTimeoutException("Did not reach pitch")
self.progress("Sending pitch-forward")
self.mav.mav.manual_control_send(
1, # target system
500, # x (pitch)
32767, # y (roll)
32767, # z (thrust)
32767, # r (yaw)
0) # button mask
m = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=1)
print("m=%s" % str(m))
if m is None:
continue
p = math.degrees(m.pitch)
self.progress("pitch=%f want<=%f" % (p, want_pitch_degrees))
if p <= want_pitch_degrees:
break
self.mav.mav.manual_control_send(
1, # target system
32767, # x (pitch)
32767, # y (roll)
32767, # z (thrust)
32767, # r (yaw)
0) # button mask
self.do_RTL()
def tests(self):
'''return list of all tests'''
ret = super(AutoTestCopter, self).tests()
@ -2974,6 +3009,10 @@ class AutoTestCopter(AutoTest):
"Check manual throttle mode changes denied on high throttle",
self.fly_manual_throttle_mode_change),
("MANUAL_CONTROL",
"Test mavlink MANUAL_CONTROL",
self.test_manual_control),
("LogDownLoad",
"Log download",
lambda: self.log_download(