autotest: add test for PILOT_THR_BHV parameter

This commit is contained in:
Peter Barker 2024-04-07 15:08:16 +10:00 committed by Peter Barker
parent d63307f881
commit 800a834740
1 changed files with 28 additions and 0 deletions

View File

@ -25,6 +25,7 @@ import vehicle_test_suite
from vehicle_test_suite import NotAchievedException, AutoTestTimeoutException, PreconditionFailedException
from vehicle_test_suite import Test
from vehicle_test_suite import MAV_POS_TARGET_TYPE_MASK
from vehicle_test_suite import WaitAndMaintainArmed
from pymavlink.rotmat import Vector3
@ -10705,6 +10706,32 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.do_RTL()
def PILOT_THR_BHV(self):
'''test the PILOT_THR_BHV parameter'''
self.start_subtest("Test default behaviour, no disarm on land")
self.set_parameters({
"DISARM_DELAY": 0,
})
self.takeoff(2, mode='GUIDED')
self.set_rc(3, 1500)
self.change_mode('LOITER')
self.set_rc(3, 1300)
maintain_armed = WaitAndMaintainArmed(self, minimum_duration=20)
maintain_armed.run()
self.start_subtest("Test THR_BEHAVE_DISARM_ON_LAND_DETECT")
self.set_parameters({
"PILOT_THR_BHV": 4, # Disarm on land detection
})
self.zero_throttle()
self.takeoff(2, mode='GUIDED')
self.set_rc(3, 1500)
self.change_mode('LOITER')
self.set_rc(3, 1300)
self.wait_disarmed()
def tests2b(self): # this block currently around 9.5mins here
'''return list of all tests'''
ret = ([
@ -10779,6 +10806,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.MAV_CMD_NAV_TAKEOFF,
self.MAV_CMD_NAV_TAKEOFF_command_int,
self.Ch6TuningWPSpeed,
self.PILOT_THR_BHV,
])
return ret