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Tools: autotest: Add sub test for MOT_THST_HOVER parameter 

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2020-01-27 18:03:23 -03:00 committed by Jacob Walser
parent 885ebc41e3
commit 98adeafad9
1 changed files with 17 additions and 0 deletions
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17
Tools/autotest/ardusub.py
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@ -141,6 +141,21 @@ class AutoTestSub(AutoTest):
self.disarm_vehicle() self.disarm_vehicle()
def test_mot_thst_hover_ignore(self):
"""Test if we are ignoring MOT_THST_HOVER parameter
"""
# Test default parameter value
mot_thst_hover_value = self.get_parameter("MOT_THST_HOVER")
if mot_thst_hover_value != 0.5:
raise NotAchievedException("Unexpected default MOT_THST_HOVER parameter value {}".format(mot_thst_hover_value))
# Test if parameter is being ignored
for value in [0.25, 0.75]:
self.set_parameter("MOT_THST_HOVER", value)
self.test_alt_hold()
def dive_manual(self): def dive_manual(self):
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
@ -287,6 +302,8 @@ class AutoTestSub(AutoTest):
"Test gripper mission items", "Test gripper mission items",
self.test_gripper_mission), self.test_gripper_mission),
("MotorThrustHoverParameterIgnore", "Test if we are ignoring MOT_THST_HOVER", self.test_mot_thst_hover_ignore),
("SET_POSITION_TARGET_GLOBAL_INT", ("SET_POSITION_TARGET_GLOBAL_INT",
"Move vehicle using SET_POSITION_TARGET_GLOBAL_INT", "Move vehicle using SET_POSITION_TARGET_GLOBAL_INT",
self.dive_set_position_target), self.dive_set_position_target),