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Tools: autotest: add tests for relays

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Peter Barker 2018-04-18 14:02:38 +10:00 committed by Randy Mackay
parent e7b5978d8d
commit 802e4c6315
1 changed files with 17 additions and 0 deletions
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17
Tools/autotest/apmrover2.py
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@ -469,6 +469,17 @@ class AutoTestRover(AutoTest):
self.progress("RTL Mission OK")
return True
def test_servorelayevents(self):
self.mavproxy.send("relay set 0 0\n")
off = self.get_parameter("SIM_PIN_MASK")
self.mavproxy.send("relay set 0 1\n")
on = self.get_parameter("SIM_PIN_MASK")
if on == off:
self.progress("Pin mask unchanged after relay command")
return False
self.progress("Pin mask changed after relay command")
return True
def autotest(self):
"""Autotest APMrover2 in SITL."""
if not self.hasInit:
@ -543,6 +554,12 @@ class AutoTestRover(AutoTest):
if not self.do_set_mode_via_command_long():
failed = True
# test ServoRelayEvents:
self.progress("########## Test ServoRelayEvents ##########")
if not self.test_servorelayevents():
self.progress("Failed servo relay events")
failed = True
# Throttle Failsafe
self.progress("#")
self.progress("########## Test Failsafe ##########")