Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

Tools: handle DO_PARACHUTE as both command_long and command_int

Browse Source
This commit is contained in:
Peter Barker 2023-09-13 18:40:03 +10:00 committed by Andrew Tridgell
parent 4c6918afea
commit 8e4755f202
1 changed files with 13 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
Tools/autotest/arducopter.py
View File

@ -3666,8 +3666,8 @@ class AutoTestCopter(AutoTest):
if ex is not None: if ex is not None:
raise ex raise ex
def Parachute(self): def _Parachute(self, command):
'''Test Parachute Functionality''' '''Test Parachute Functionality using specific mavlink command'''
self.set_rc(9, 1000) self.set_rc(9, 1000)
self.set_parameters({ self.set_parameters({
"CHUTE_ENABLED": 1, "CHUTE_ENABLED": 1,
@ -3690,7 +3690,7 @@ class AutoTestCopter(AutoTest):
self.progress("Test triggering with mavlink message") self.progress("Test triggering with mavlink message")
self.takeoff(20) self.takeoff(20)
self.run_cmd( command(
mavutil.mavlink.MAV_CMD_DO_PARACHUTE, mavutil.mavlink.MAV_CMD_DO_PARACHUTE,
p1=2, # release p1=2, # release
) )
@ -3711,7 +3711,7 @@ class AutoTestCopter(AutoTest):
self.progress("Test mavlink triggering") self.progress("Test mavlink triggering")
self.takeoff(20) self.takeoff(20)
self.run_cmd( command(
mavutil.mavlink.MAV_CMD_DO_PARACHUTE, mavutil.mavlink.MAV_CMD_DO_PARACHUTE,
p1=mavutil.mavlink.PARACHUTE_DISABLE, p1=mavutil.mavlink.PARACHUTE_DISABLE,
) )
@ -3722,7 +3722,7 @@ class AutoTestCopter(AutoTest):
ok = True ok = True
if not ok: if not ok:
raise NotAchievedException("Disabled parachute fired") raise NotAchievedException("Disabled parachute fired")
self.run_cmd( command(
mavutil.mavlink.MAV_CMD_DO_PARACHUTE, mavutil.mavlink.MAV_CMD_DO_PARACHUTE,
p1=mavutil.mavlink.PARACHUTE_ENABLE, p1=mavutil.mavlink.PARACHUTE_ENABLE,
) )
@ -3740,7 +3740,7 @@ class AutoTestCopter(AutoTest):
# parachute should not fire if you go from disabled to release: # parachute should not fire if you go from disabled to release:
self.takeoff(20) self.takeoff(20)
self.run_cmd( command(
mavutil.mavlink.MAV_CMD_DO_PARACHUTE, mavutil.mavlink.MAV_CMD_DO_PARACHUTE,
p1=mavutil.mavlink.PARACHUTE_RELEASE, p1=mavutil.mavlink.PARACHUTE_RELEASE,
) )
@ -3753,11 +3753,11 @@ class AutoTestCopter(AutoTest):
raise NotAchievedException("Parachute fired when going straight from disabled to release") raise NotAchievedException("Parachute fired when going straight from disabled to release")
# now enable then release parachute: # now enable then release parachute:
self.run_cmd( command(
mavutil.mavlink.MAV_CMD_DO_PARACHUTE, mavutil.mavlink.MAV_CMD_DO_PARACHUTE,
p1=mavutil.mavlink.PARACHUTE_ENABLE, p1=mavutil.mavlink.PARACHUTE_ENABLE,
) )
self.run_cmd( command(
mavutil.mavlink.MAV_CMD_DO_PARACHUTE, mavutil.mavlink.MAV_CMD_DO_PARACHUTE,
p1=mavutil.mavlink.PARACHUTE_RELEASE, p1=mavutil.mavlink.PARACHUTE_RELEASE,
) )
@ -3800,6 +3800,11 @@ class AutoTestCopter(AutoTest):
self.disarm_vehicle(force=True) self.disarm_vehicle(force=True)
self.reboot_sitl() self.reboot_sitl()
def Parachute(self):
'''Test Parachute Functionality'''
self._Parachute(self.run_cmd)
self._Parachute(self.run_cmd_int)
def _MotorTest(self, command, timeout=60): def _MotorTest(self, command, timeout=60):
'''Run Motor Tests (with specific mavlink message)''' '''Run Motor Tests (with specific mavlink message)'''
self.start_subtest("Testing PWM output") self.start_subtest("Testing PWM output")