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autotest: augment tracker tests to cover MISSION_START and SET_SERVO

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Peter Barker 2023-08-25 18:00:12 +10:00 committed by Peter Barker
parent cbc0043b9b
commit 8ee773f77d
1 changed files with 29 additions and 20 deletions
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49
Tools/autotest/antennatracker.py
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@ -116,28 +116,36 @@ class AutoTestTracker(AutoTest):
self.set_rc(chan, pwm)
self.wait_servo_channel_value(chan, pwm)
def SERVOTEST(self):
def MAV_CMD_DO_SET_SERVO(self):
'''Test SERVOTEST mode'''
self.change_mode(0) # "MANUAL"
# magically changes to SERVOTEST (3)
for value in 1900, 1200:
channel = 1
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_SET_SERVO,
p1=channel,
p2=value,
timeout=1,
)
self.wait_servo_channel_value(channel, value)
for value in 1300, 1670:
channel = 2
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_SET_SERVO,
p1=channel,
p2=value,
timeout=1,
)
self.wait_servo_channel_value(channel, value)
for method in self.run_cmd, self.run_cmd_int:
for value in 1900, 1200:
channel = 1
method(
mavutil.mavlink.MAV_CMD_DO_SET_SERVO,
p1=channel,
p2=value,
timeout=1,
)
self.wait_servo_channel_value(channel, value)
for value in 1300, 1670:
channel = 2
method(
mavutil.mavlink.MAV_CMD_DO_SET_SERVO,
p1=channel,
p2=value,
timeout=1,
)
self.wait_servo_channel_value(channel, value)
def MAV_CMD_MISSION_START(self):
'''test MAV_CMD_MISSION_START mavlink command'''
for method in self.run_cmd, self.run_cmd_int:
self.change_mode(0) # "MANUAL"
method(mavutil.mavlink.MAV_CMD_MISSION_START)
self.wait_mode("AUTO")
def SCAN(self):
'''Test SCAN mode'''
@ -166,7 +174,8 @@ class AutoTestTracker(AutoTest):
ret.extend([
self.GUIDED,
self.MANUAL,
self.SERVOTEST,
self.MAV_CMD_DO_SET_SERVO,
self.MAV_CMD_MISSION_START,
self.NMEAOutput,
self.SCAN,
])