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autotest: add rudder disarm checks for airmode

This commit is contained in:
Mark Whitehorn 2020-08-17 07:44:46 -06:00 committed by Peter Barker
parent 0c3e9bbd4b
commit a37b5c2c6b
1 changed files with 18 additions and 14 deletions
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32
Tools/autotest/quadplane.py
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@ -104,7 +104,7 @@ class AutoTestQuadPlane(AutoTest):
"""When disarmed, motor PWM will drop to min_pwm"""
min_pwm = self.get_parameter("Q_THR_MIN_PWM")
self.progress("Verify Motor1 is ast min_pwm when disarmed")
self.progress("Verify Motor1 is at min_pwm when disarmed")
self.wait_servo_channel_value(5, min_pwm, comparator=operator.eq)
"""set Q_OPTIONS bit AIRMODE"""
@ -114,7 +114,7 @@ class AutoTestQuadPlane(AutoTest):
armdisarm_option = 41
arm_ch = 8
self.set_parameter("RC%d_OPTION" % arm_ch, armdisarm_option)
self.progress("configured RC%d as ARMDISARM switch" % arm_ch)
self.progress("Configured RC%d as ARMDISARM switch" % arm_ch)
"""arm with GCS, record Motor1 SPIN_ARM PWM output and disarm"""
spool_delay = self.get_parameter("Q_M_SPOOL_TIME") + 0.25
@ -143,18 +143,22 @@ class AutoTestQuadPlane(AutoTest):
self.progress("Testing %s mode" % mode)
self.change_mode(mode)
self.zero_throttle()
self.progress("arming with switch at zero throttle")
self.progress("Arming with switch at zero throttle")
self.arm_motors_with_switch(arm_ch)
self.progress("Waiting for Motor1 to speed up")
self.wait_servo_channel_value(5, spin_min_pwm, comparator=operator.ge)
self.progress("disarming with switch")
self.progress("Verify that rudder disarm is disabled")
if self.disarm_motors_with_rc_input():
raise NotAchievedException("Rudder disarm not disabled")
self.progress("Disarming with switch")
self.disarm_motors_with_switch(arm_ch)
self.progress("Waiting for Motor1 to stop")
self.wait_servo_channel_value(5, min_pwm, comparator=operator.le)
self.wait_ready_to_arm()
self.start_subtest("verify that arming with switch does not spin motors in other modes")
self.start_subtest("Verify that arming with switch does not spin motors in other modes")
# introduce a large attitude error to verify that stabilization is not active
ahrs_trim_x = self.get_parameter("AHRS_TRIM_X")
self.set_parameter("AHRS_TRIM_X", math.radians(-60))
@ -164,7 +168,7 @@ class AutoTestQuadPlane(AutoTest):
self.progress("Testing %s mode" % mode)
self.change_mode(mode)
self.zero_throttle()
self.progress("arming with switch at zero throttle")
self.progress("Arming with switch at zero throttle")
self.arm_motors_with_switch(arm_ch)
self.progress("Waiting for Motor1 to (not) speed up")
self.delay_sim_time(spool_delay)
@ -173,7 +177,7 @@ class AutoTestQuadPlane(AutoTest):
self.wait_servo_channel_value(7, spin_arm_pwm, comparator=operator.le)
self.wait_servo_channel_value(8, spin_arm_pwm, comparator=operator.le)
self.progress("disarming with switch")
self.progress("Disarming with switch")
self.disarm_motors_with_switch(arm_ch)
self.progress("Waiting for Motor1 to stop")
self.wait_servo_channel_value(5, min_pwm, comparator=operator.le)
@ -190,15 +194,15 @@ class AutoTestQuadPlane(AutoTest):
self.progress("Testing %s mode" % mode)
self.change_mode(mode)
self.zero_throttle()
self.progress("arming with GCS at zero throttle")
self.progress("Arming with GCS at zero throttle")
self.arm_vehicle()
self.progress("turn airmode on with auxswitch")
self.progress("Turn airmode on with auxswitch")
self.set_rc(7, 2000)
self.progress("Waiting for Motor1 to speed up")
self.wait_servo_channel_value(5, spin_min_pwm, comparator=operator.ge)
self.progress("turn airmode off with auxswitch")
self.progress("Turn airmode off with auxswitch")
self.set_rc(7, 1000)
self.progress("Waiting for Motor1 to slow down")
self.wait_servo_channel_value(5, spin_arm_pwm, comparator=operator.le)
@ -210,19 +214,19 @@ class AutoTestQuadPlane(AutoTest):
self.progress("Testing %s mode" % mode)
self.change_mode(mode)
self.zero_throttle()
self.progress("arming with GCS at zero throttle")
self.progress("Arming with GCS at zero throttle")
self.arm_vehicle()
self.progress("turn airmode on with auxswitch")
self.progress("Turn airmode on with auxswitch")
self.set_rc(7, 2000)
self.progress("Waiting for Motor1 to speed up")
self.wait_servo_channel_value(5, spin_min_pwm, comparator=operator.ge)
self.progress("disarm/rearm with GCS")
self.progress("Disarm/rearm with GCS")
self.disarm_vehicle()
self.arm_vehicle()
self.progress("verify that airmode is still on")
self.progress("Verify that airmode is still on")
self.wait_servo_channel_value(5, spin_min_pwm, comparator=operator.ge)
self.disarm_vehicle()
self.wait_ready_to_arm()