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Tools: remove dependency on mavproxy for arming/disarm

This commit is contained in:
Pierre Kancir 2018-08-06 10:45:51 +02:00 committed by Peter Barker
parent 5b0ae42725
commit 87a7fd0fbb
1 changed files with 52 additions and 2 deletions
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54
Tools/autotest/common.py
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@ -427,13 +427,57 @@ class AutoTest(ABC):
def arm_vehicle(self):
"""Arm vehicle with mavlink arm message."""
self.progress("Arm motors with MAVLink cmd")
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0,
)
tstart = self.get_sim_time()
while self.get_sim_time() - tstart < 20:
self.mav.wait_heartbeat()
if self.mav.motors_armed():
self.progress("Motors ARMED")
return True
self.progress("Unable to ARM with mavlink")
raise AutoTestTimeoutException()
def disarm_vehicle(self):
"""Disarm vehicle with mavlink disarm message."""
self.progress("Disarm motors with MAVLink cmd")
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
0, # DISARM
0,
0,
0,
0,
0,
0,
)
tstart = self.get_sim_time()
while self.get_sim_time() - tstart < 20:
self.mav.wait_heartbeat()
if not self.mav.motors_armed():
self.progress("Motors DISARMED")
return True
self.progress("Unable to DISARM with mavlink")
raise AutoTestTimeoutException()
def mavproxy_arm_vehicle(self):
"""Arm vehicle with mavlink arm message send from MAVProxy."""
self.progress("Arm motors with MavProxy")
self.mavproxy.send('arm throttle\n')
self.mav.motors_armed_wait()
self.progress("ARMED")
return True
def disarm_vehicle(self):
"""Disarm vehicle with mavlink disarm message."""
def mavproxy_disarm_vehicle(self):
"""Disarm vehicle with mavlink disarm message send from MAVProxy."""
self.progress("Disarm motors with MavProxy")
self.mavproxy.send('disarm\n')
self.mav.motors_disarmed_wait()
self.progress("DISARMED")
@ -1084,6 +1128,12 @@ class AutoTest(ABC):
if not self.disarm_vehicle():
self.progress("Failed to DISARM")
raise NotAchievedException()
if not self.mavproxy_arm_vehicle():
self.progress("Failed to ARM")
raise NotAchievedException()
if not self.mavproxy_disarm_vehicle():
self.progress("Failed to DISARM")
raise NotAchievedException()
if not self.arm_motors_with_rc_input():
raise NotAchievedException()
if not self.disarm_motors_with_rc_input():