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Tools: autotest: add PID_TUNING test

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Peter Barker 2019-03-01 10:04:23 +11:00 committed by Andrew Tridgell
parent f33ba58549
commit 8c35ddc0eb
3 changed files with 23 additions and 0 deletions
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4
Tools/autotest/arduplane.py
View File

@ -870,6 +870,10 @@ class AutoTestPlane(AutoTest):
def default_mode(self): def default_mode(self):
return "MANUAL" return "MANUAL"
def test_pid_tuning(self):
self.change_mode("FBWA") # we don't update PIDs in MANUAL
super(AutoTestPlane, self).test_pid_tuning()
def tests(self): def tests(self):
'''return list of all tests''' '''return list of all tests'''
ret = super(AutoTestPlane, self).tests() ret = super(AutoTestPlane, self).tests()

15
Tools/autotest/common.py
View File

@ -2265,8 +2265,23 @@ switch value'''
def disabled_tests(self): def disabled_tests(self):
return {} return {}
def test_pid_tuning(self):
self.progress("making sure we're not getting PID_TUNING messages")
m = self.mav.recv_match(type='PID_TUNING', blocking=True, timeout=1)
if m is not None:
raise PreconditionFailedException("Receiving PID_TUNING already")
self.set_parameter("GCS_PID_MASK", 1)
self.progress("making sure we are now getting PID_TUNING messages")
m = self.mav.recv_match(type='PID_TUNING', blocking=True, timeout=1)
if m is None:
raise PreconditionFailedException("Did not start to get PID_TUNING message")
def tests(self): def tests(self):
return [ return [
("PIDTuning",
"Test PID Tuning",
self.test_pid_tuning),
("ArmFeatures", "Arm features", self.test_arm_feature), ("ArmFeatures", "Arm features", self.test_arm_feature),
("SetHome", ("SetHome",

4
Tools/autotest/quadplane.py
View File

@ -186,6 +186,10 @@ class AutoTestQuadPlane(AutoTest):
return return
self.mav.motors_disarmed_wait() self.mav.motors_disarmed_wait()
def test_pid_tuning(self):
self.change_mode("FBWA") # we don't update PIDs in MANUAL
super(AutoTestQuadPlane, self).test_pid_tuning()
def default_mode(self): def default_mode(self):
return "MANUAL" return "MANUAL"