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autotest: fixes for AFS test

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Peter Barker 2020-12-30 19:13:08 +11:00 committed by Peter Barker
parent 7f79ddf3ff
commit 7c7fb67829
1 changed files with 8 additions and 18 deletions
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26
Tools/autotest/common.py
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@ -7660,24 +7660,14 @@ switch value'''
self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION)
self.set_parameter("AFS_TERM_ACTION", 42)
self.load_sample_mission()
messages = []
def my_message_hook(mav, m):
if m.get_type() != 'STATUSTEXT':
return
messages.append(m)
self.install_message_hook(my_message_hook)
try:
self.change_mode("AUTO") # must go to auto for AFS to latch on
finally:
self.remove_message_hook(my_message_hook)
if "AFS State: AFS_AUTO" not in [x.text for x in messages]:
self.wait_statustext("AFS State: AFS_AUTO")
self.context_collect("STATUSTEXT")
self.change_mode("AUTO") # must go to auto for AFS to latch on
self.wait_statustext("AFS State: AFS_AUTO", check_context=True)
self.change_mode("MANUAL")
self.start_subtest("RC Failure")
self.set_parameter("AFS_RC_FAIL_TIME", 1)
self.set_parameter("SIM_RC_FAIL", 1)
self.wait_statustext("Terminating due to RC failure")
self.wait_statustext("Terminating due to RC failure", check_context=True)
self.set_parameter("AFS_RC_FAIL_TIME", 0)
self.set_parameter("SIM_RC_FAIL", 0)
self.set_parameter("AFS_TERMINATE", 0)
@ -7687,7 +7677,7 @@ switch value'''
self.start_subtest("Altitude Limit breach")
self.set_parameter("AFS_AMSL_LIMIT", 100)
self.mavproxy.send("fence enable\n")
self.wait_statustext("Terminating due to fence breach")
self.wait_statustext("Terminating due to fence breach", check_context=True)
self.set_parameter("AFS_AMSL_LIMIT", 0)
self.set_parameter("AFS_TERMINATE", 0)
self.mavproxy.send("fence disable\n")
@ -7695,12 +7685,12 @@ switch value'''
self.start_subtest("GPS Failure")
self.set_parameter("AFS_MAX_GPS_LOSS", 1)
self.set_parameter("SIM_GPS_DISABLE", 1)
self.wait_statustext("AFS State: GPS_LOSS")
self.wait_statustext("AFS State: GPS_LOSS", check_context=True)
self.set_parameter("SIM_GPS_DISABLE", 0)
self.set_parameter("AFS_MAX_GPS_LOSS", 0)
self.set_parameter("AFS_TERMINATE", 0)
self.send_cmd(mavutil.mavlink.MAV_CMD_DO_FLIGHTTERMINATION,
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_FLIGHTTERMINATION,
1, # terminate
0,
0,
@ -7709,7 +7699,7 @@ switch value'''
0,
0,
)
self.wait_statustext("Terminating due to GCS request")
self.wait_statustext("Terminating due to GCS request", check_context=True)
except Exception as e:
ex = e