From 9550721ae42d8be6336138fc3c3444800b682d05 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir.emn@gmail.com>
Date: Wed, 9 Dec 2020 20:50:31 +0100
Subject: [PATCH] Tools: add initial_mode testing
---
Tools/autotest/common.py | 27 +++++++++++++++++++++++++++
1 file changed, 27 insertions(+)
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 2ce62df9de..056e4dfc11 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -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):