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Tools: autotest: rename get_rudder_channel to get_stick_arming_channel

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... as some of these aren't actually rudder inputs...
This commit is contained in:
Peter Barker 2019-03-26 23:17:11 +11:00 committed by Peter Barker
parent 2959d38e0e
commit 9a16b40a73
5 changed files with 11 additions and 11 deletions
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2
Tools/autotest/apmrover2.py
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@ -44,7 +44,7 @@ class AutoTestRover(AutoTest):
def is_rover(self): def is_rover(self):
return True return True
def get_rudder_channel(self): def get_stick_arming_channel(self):
return int(self.get_parameter("RCMAP_ROLL")) return int(self.get_parameter("RCMAP_ROLL"))
########################################################## ##########################################################

2
Tools/autotest/arducopter.py
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@ -73,7 +73,7 @@ class AutoTestCopter(AutoTest):
def is_copter(self): def is_copter(self):
return True return True
def get_rudder_channel(self): def get_stick_arming_channel(self):
return int(self.get_parameter("RCMAP_YAW")) return int(self.get_parameter("RCMAP_YAW"))
def get_disarm_delay(self): def get_disarm_delay(self):

2
Tools/autotest/arduplane.py
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@ -47,7 +47,7 @@ class AutoTestPlane(AutoTest):
def is_plane(self): def is_plane(self):
return True return True
def get_rudder_channel(self): def get_stick_arming_channel(self):
return int(self.get_parameter("RCMAP_YAW")) return int(self.get_parameter("RCMAP_YAW"))
def get_disarm_delay(self): def get_disarm_delay(self):

14
Tools/autotest/common.py
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@ -813,7 +813,7 @@ class AutoTest(ABC):
out_trim = int(self.get_parameter("RC%u_TRIM" % chan)) out_trim = int(self.get_parameter("RC%u_TRIM" % chan))
self.set_rc(chan, out_trim) self.set_rc(chan, out_trim)
def get_rudder_channel(self): def get_stick_arming_channel(self):
"""Return the Rudder channel number as set in parameter.""" """Return the Rudder channel number as set in parameter."""
raise ErrorException("Rudder parameter is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame)) raise ErrorException("Rudder parameter is not supported by vehicle %s frame %s", (self.vehicleinfo_key(), self.frame))
@ -903,38 +903,38 @@ class AutoTest(ABC):
def arm_motors_with_rc_input(self, timeout=20): def arm_motors_with_rc_input(self, timeout=20):
"""Arm motors with radio.""" """Arm motors with radio."""
self.progress("Arm motors with radio") self.progress("Arm motors with radio")
self.set_output_to_max(self.get_rudder_channel()) self.set_output_to_max(self.get_stick_arming_channel())
tstart = self.get_sim_time() tstart = self.get_sim_time()
while True: while True:
self.wait_heartbeat() self.wait_heartbeat()
tdelta = self.get_sim_time_cached() - tstart tdelta = self.get_sim_time_cached() - tstart
if self.mav.motors_armed(): if self.mav.motors_armed():
self.progress("MOTORS ARMED OK WITH RADIO") self.progress("MOTORS ARMED OK WITH RADIO")
self.set_output_to_trim(self.get_rudder_channel()) self.set_output_to_trim(self.get_stick_arming_channel())
self.progress("Arm in %ss" % tdelta) # TODO check arming time self.progress("Arm in %ss" % tdelta) # TODO check arming time
return True return True
print("Not armed after %f seconds" % (tdelta)) print("Not armed after %f seconds" % (tdelta))
if tdelta > timeout: if tdelta > timeout:
break break
self.progress("Failed to ARM with radio") self.progress("Failed to ARM with radio")
self.set_output_to_trim(self.get_rudder_channel()) self.set_output_to_trim(self.get_stick_arming_channel())
return False return False
def disarm_motors_with_rc_input(self, timeout=20): def disarm_motors_with_rc_input(self, timeout=20):
"""Disarm motors with radio.""" """Disarm motors with radio."""
self.progress("Disarm motors with radio") self.progress("Disarm motors with radio")
self.set_output_to_min(self.get_rudder_channel()) self.set_output_to_min(self.get_stick_arming_channel())
tstart = self.get_sim_time() tstart = self.get_sim_time()
while self.get_sim_time_cached() < tstart + timeout: while self.get_sim_time_cached() < tstart + timeout:
self.wait_heartbeat() self.wait_heartbeat()
if not self.mav.motors_armed(): if not self.mav.motors_armed():
disarm_delay = self.get_sim_time_cached() - tstart disarm_delay = self.get_sim_time_cached() - tstart
self.progress("MOTORS DISARMED OK WITH RADIO") self.progress("MOTORS DISARMED OK WITH RADIO")
self.set_output_to_trim(self.get_rudder_channel()) self.set_output_to_trim(self.get_stick_arming_channel())
self.progress("Disarm in %ss" % disarm_delay) # TODO check disarming time self.progress("Disarm in %ss" % disarm_delay) # TODO check disarming time
return True return True
self.progress("Failed to DISARM with radio") self.progress("Failed to DISARM with radio")
self.set_output_to_trim(self.get_rudder_channel()) self.set_output_to_trim(self.get_stick_arming_channel())
return False return False
def arm_motors_with_switch(self, switch_chan, timeout=20): def arm_motors_with_switch(self, switch_chan, timeout=20):

2
Tools/autotest/quadplane.py
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@ -46,7 +46,7 @@ class AutoTestQuadPlane(AutoTest):
def is_plane(self): def is_plane(self):
return True return True
def get_rudder_channel(self): def get_stick_arming_channel(self):
return int(self.get_parameter("RCMAP_YAW")) return int(self.get_parameter("RCMAP_YAW"))
def get_disarm_delay(self): def get_disarm_delay(self):