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Tools: autotest: add test for high-throttle-at-mode-change

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This commit is contained in:
Peter Barker 2019-03-06 17:37:26 +11:00 committed by Peter Barker
parent 0cdb1c9d1e
commit 91436c5314
2 changed files with 43 additions and 12 deletions
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21
Tools/autotest/arducopter.py
View File

@ -2362,6 +2362,23 @@ class AutoTestCopter(AutoTest):
if ex is not None:
raise ex
def fly_manual_throttle_mode_change(self):
self.set_parameter("FS_GCS_ENABLE", 0) # avoid GUIDED instant disarm
self.change_mode("STABILIZE")
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode("ACRO")
self.change_mode("STABILIZE")
self.change_mode("GUIDED")
self.set_rc(3, 1700)
self.watch_altitude_maintained(-1, 0.2) # should not take off in guided
self.run_cmd_do_set_mode(
"ACRO",
want_result=mavutil.mavlink.MAV_RESULT_UNSUPPORTED) # should fix this result code!
self.set_rc(3, 1000)
self.run_cmd_do_set_mode("ACRO")
self.mav.motors_disarmed_wait()
def test_mount_pitch(self, despitch, despitch_tolerance, timeout=5):
tstart = self.get_sim_time()
while True:
@ -2953,6 +2970,10 @@ class AutoTestCopter(AutoTest):
"Test Arming Parameter Checks",
self.test_parameter_checks),
("ManualThrottleModeChange",
"Check manual throttle mode changes denied on high throttle",
self.fly_manual_throttle_mode_change),
("LogDownLoad",
"Log download",
lambda: self.log_download(

34
Tools/autotest/common.py
View File

@ -1157,30 +1157,40 @@ class AutoTest(ABC):
self.progress("Available modes '%s'" % mode_map)
raise ErrorException("Unknown mode '%s'" % mode)
def do_set_mode_via_command_long(self, mode, timeout=30):
"""Set mode with a command long message."""
def run_cmd_do_set_mode(self,
mode,
timeout=30,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED
custom_mode = self.get_mode_from_mode_mapping(mode)
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_MODE,
base_mode,
custom_mode,
0,
0,
0,
0,
0,
want_result=want_result,
timeout=timeout
)
def do_set_mode_via_command_long(self, mode, timeout=30):
"""Set mode with a command long message."""
tstart = self.get_sim_time()
want_custom_mode = self.get_mode_from_mode_mapping(mode)
while True:
remaining = timeout - (self.get_sim_time_cached() - tstart)
if remaining <= 0:
raise AutoTestTimeoutException("Failed to change mode")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_MODE,
base_mode,
custom_mode,
0,
0,
0,
0,
0,
)
self.run_cmd_do_set_mode(mode, timeout=10)
m = self.mav.recv_match(type='HEARTBEAT',
blocking=True,
timeout=5)
if m is None:
raise ErrorException("Heartbeat not received")
if m.custom_mode == custom_mode:
self.progress("Got mode=%u want=%u" % (m.custom_mode, want_custom_mode))
if m.custom_mode == want_custom_mode:
return
def mavproxy_do_set_mode_via_command_long(self, mode, timeout=30):