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autotest: assert ArduPilot announces compass cal capability

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Peter Barker 2019-10-29 11:50:24 +11:00 committed by Andrew Tridgell
parent b9dbfff0d0
commit 7dda87fd44
3 changed files with 4 additions and 3 deletions
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2
Tools/autotest/apmrover2.py
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@ -4792,7 +4792,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
("GetCapabilities", ("GetCapabilities",
"Get Capabilities", "Get Capabilities",
self.do_get_autopilot_capabilities), self.test_get_autopilot_capabilities),
("DO_SET_MODE", ("DO_SET_MODE",
"Set mode via MAV_COMMAND_DO_SET_MODE", "Set mode via MAV_COMMAND_DO_SET_MODE",

2
Tools/autotest/balancebot.py
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@ -117,7 +117,7 @@ inherit Rover's tests!'''
("GetCapabilities", ("GetCapabilities",
"Get Capabilities", "Get Capabilities",
self.do_get_autopilot_capabilities), self.test_get_autopilot_capabilities),
("DO_SET_MODE", ("DO_SET_MODE",
"Set mode via MAV_COMMAND_DO_SET_MODE", "Set mode via MAV_COMMAND_DO_SET_MODE",

3
Tools/autotest/common.py
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@ -1548,8 +1548,9 @@ class AutoTest(ABC):
raise NotAchievedException("Did not get AUTOPILOT_VERSION") raise NotAchievedException("Did not get AUTOPILOT_VERSION")
return m.capabilities return m.capabilities
def do_get_autopilot_capabilities(self): def test_get_autopilot_capabilities(self):
self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT) self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT)
self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION)
def get_mode_from_mode_mapping(self, mode): def get_mode_from_mode_mapping(self, mode):
"""Validate and return the mode number from a string or int.""" """Validate and return the mode number from a string or int."""