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Tools: Copter: add test for FS_GCS_TIMEOUT

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Pierre Kancir 2023-02-01 00:53:34 +01:00 committed by Tom Pittenger
parent 468356d513
commit 8628fd998f
1 changed files with 19 additions and 0 deletions
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19
Tools/autotest/arducopter.py
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@ -785,6 +785,25 @@ class AutoTestCopter(AutoTest):
self.change_mode("LOITER")
self.end_subtest("Completed GCS failsafe recovery test")
# Trigger telemetry loss with failsafe enabled. Verify
# failsafe triggers to RTL. Restore telemetry, verify failsafe
# clears, and change modes.
self.start_subtest("GCS failsafe recovery test: FS_GCS_ENABLE=1 & FS_OPTIONS=0 & FS_GCS_TIMEOUT=10")
self.setGCSfailsafe(1)
self.set_parameter('FS_OPTIONS', 0)
old_gcs_timeout = self.get_parameter("FS_GCS_TIMEOUT")
new_gcs_timeout = old_gcs_timeout * 2
self.set_parameter("FS_GCS_TIMEOUT", new_gcs_timeout)
self.set_heartbeat_rate(0)
self.delay_sim_time(old_gcs_timeout + (new_gcs_timeout - old_gcs_timeout) / 2)
self.assert_mode("LOITER")
self.wait_mode("RTL")
self.set_heartbeat_rate(self.speedup)
self.wait_statustext("GCS Failsafe Cleared", timeout=60)
self.change_mode("LOITER")
self.set_parameter('FS_GCS_TIMEOUT', old_gcs_timeout)
self.end_subtest("Completed GCS failsafe recovery test")
# Trigger telemetry loss with failsafe enabled. Verify failsafe triggers and RTL completes
self.start_subtest("GCS failsafe RTL with no options test: FS_GCS_ENABLE=1 & FS_OPTIONS=0")
self.setGCSfailsafe(1)