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Tools: add initial_mode testing

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This commit is contained in:
Pierre Kancir 2020-12-09 20:50:31 +01:00 committed by Randy Mackay
parent 1e5d9fb299
commit 9550721ae4
1 changed files with 27 additions and 0 deletions
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27
Tools/autotest/common.py
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@ -6526,6 +6526,29 @@ Also, ignores heartbeats not from our target system'''
if self.get_parameter(parameter_name) != new_parameter_value:
raise NotAchievedException("Parameter value did not stick")
def test_initial_mode(self):
if self.is_copter():
init_mode = (9, "LAND")
if self.is_rover():
init_mode = (4, "HOLD")
if self.is_plane():
init_mode = (13, "TAKEOFF")
if self.is_tracker():
init_mode = (1, "STOP")
if self.is_sub():
return # NOT Supported yet
self.context_push()
self.set_parameter("SIM_RC_FAIL", 1)
self.progress("Setting INITIAL_MODE to %s" % init_mode[1])
self.set_parameter("INITIAL_MODE", init_mode[0])
self.reboot_sitl()
self.wait_mode(init_mode[1])
self.progress("Testing back mode switch")
self.set_parameter("SIM_RC_FAIL", 0)
self.wait_for_mode_switch_poll()
self.context_pop()
self.reboot_sitl()
def test_gripper(self):
self.context_push()
self.set_parameter("GRIP_ENABLE", 1)
@ -8169,6 +8192,10 @@ switch value'''
("GetCapabilities",
"Get Capabilities",
self.test_get_autopilot_capabilities),
("InitialMode",
"Test initial mode switching",
self.test_initial_mode),
]
def post_tests_announcements(self):