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autotest: add test for HIGH_LATENCY2

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Peter Barker 2021-07-08 12:27:38 +10:00 committed by Peter Barker
parent 207f38dfaf
commit 89c884e8f1
2 changed files with 22 additions and 0 deletions
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18
Tools/autotest/common.py
View File

@ -2458,6 +2458,24 @@ class AutoTest(ABC):
if bytes1[i] != bytes2[i]:
raise NotAchievedException("differ at offset %u" % i)
def HIGH_LATENCY2(self):
'''test sending of HIGH_LATENCY2'''
# should not be getting HIGH_LATENCY2 by default
m = self.mav.recv_match(type='HIGH_LATENCY2', blocking=True, timeout=2)
if m is not None:
raise NotAchievedException("Shouldn't be getting HIGH_LATENCY2 by default")
m = self.poll_message("HIGH_LATENCY2")
if (m.failure_flags & mavutil.mavlink.HL_FAILURE_FLAG_GPS) != 0:
raise NotAchievedException("Expected GPS to be OK")
self.assert_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS, True, True, True)
self.set_parameter("SIM_GPS_TYPE", 0)
self.delay_sim_time(10)
self.assert_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS, False, False, False)
m = self.poll_message("HIGH_LATENCY2")
mavutil.dump_message_verbose(sys.stdout, m)
if (m.failure_flags & mavutil.mavlink.HL_FAILURE_FLAG_GPS) == 0:
raise NotAchievedException("Expected GPS to be failed")
def test_log_download(self):
if self.is_tracker():
# tracker starts armed, which is annoying

4
Tools/autotest/rover.py
View File

@ -5686,6 +5686,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
"Set modes via mavproxy switch",
self.test_setting_modes_via_mavproxy_switch),
("HIGH_LATENCY2",
"Set sending of HIGH_LATENCY2",
self.HIGH_LATENCY2),
("MAVProxy_SetModeUsingMode",
"Set modes via mavproxy mode command",
self.test_setting_modes_via_mavproxy_mode_command),