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https://github.com/ArduPilot/ardupilot
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autotest: add (disabled) sub test for MAV_CMD_DO_CHANGE_SPEED
this doesn't work on master either...
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5a1a4acab2
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@ -422,6 +422,7 @@ class AutoTestSub(AutoTest):
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ret = super(AutoTestSub, self).disabled_tests()
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ret.update({
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"ConfigErrorLoop": "Sub does not instantiate AP_Stats. Also see https://github.com/ArduPilot/ardupilot/issues/10247", # noqa
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"MAV_CMD_DO_CHANGE_SPEED": "Doesn't work",
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})
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return ret
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@ -454,6 +455,26 @@ class AutoTestSub(AutoTest):
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self.assert_mode('AUTO')
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self.disarm_vehicle()
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def MAV_CMD_DO_CHANGE_SPEED(self):
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'''ensure vehicle changes speeds when DO_CHANGE_SPEED received'''
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items = [
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(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, 0),
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(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
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]
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items = []
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for i in range(0, 2000, 10):
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items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, i, 0, 0))
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self.upload_simple_relhome_mission(items)
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.run_cmd(mavutil.mavlink.MAV_CMD_MISSION_START)
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for run_cmd in self.run_cmd, self.run_cmd_int:
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for speed in [1, 2, 3, 1]:
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run_cmd(mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED, p2=speed)
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self.wait_groundspeed(speed-0.02, speed+0.02, minimum_duration=2)
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self.disarm_vehicle()
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def tests(self):
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'''return list of all tests'''
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ret = super(AutoTestSub, self).tests()
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@ -472,6 +493,7 @@ class AutoTestSub(AutoTest):
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self.MAV_CMD_NAV_LOITER_UNLIM,
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self.MAV_CMD_NAV_LAND,
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self.MAV_CMD_MISSION_START,
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self.MAV_CMD_DO_CHANGE_SPEED,
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])
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return ret
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