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autotest: add test for servo output values in scaled passthrough

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Peter Barker 2023-08-11 17:39:30 +10:00 committed by Andrew Tridgell
parent 6f65b889c7
commit a430232e1c
1 changed files with 42 additions and 0 deletions
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42
Tools/autotest/arducopter.py
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@ -688,6 +688,47 @@ class AutoTestCopter(AutoTest):
self.set_parameter('FS_THR_ENABLE', 0)
self.reboot_sitl()
def ThrottleFailsafePassthrough(self):
'''check servo passthrough on RC failsafe. Make sure it doesn't glitch to the bad RC input value'''
channel = 7
trim_value = 1450
self.set_parameters({
'RC%u_MIN' % channel: 1000,
'RC%u_MAX' % channel: 2000,
'SERVO%u_MIN' % channel: 1000,
'SERVO%u_MAX' % channel: 2000,
'SERVO%u_TRIM' % channel: trim_value,
'SERVO%u_FUNCTION' % channel: 146, # scaled passthrough for channel 7
'FS_THR_ENABLE': 1,
'RC_FS_TIMEOUT': 10,
'SERVO_RC_FS_MSK': 1 << (channel-1),
})
self.reboot_sitl()
self.context_set_message_rate_hz('SERVO_OUTPUT_RAW', 200)
self.set_rc(channel, 1799)
expected_servo_output_value = 1778 # 1778 because of weird trim
self.wait_servo_channel_value(channel, expected_servo_output_value)
# receiver goes into failsafe with wild override values:
def ensure_SERVO_values_never_input(mav, m):
if m.get_type() != "SERVO_OUTPUT_RAW":
return
value = getattr(m, "servo%u_raw" % channel)
if value != expected_servo_output_value and value != trim_value:
raise NotAchievedException("Bad servo value %u received" % value)
self.install_message_hook_context(ensure_SERVO_values_never_input)
self.progress("Forcing receiver into failsafe")
self.set_rc_from_map({
3: 800,
channel: 1300,
})
self.wait_servo_channel_value(channel, trim_value)
self.delay_sim_time(10)
# Tests all actions and logic behind the GCS failsafe
def GCSFailsafe(self, side=60, timeout=360):
'''Test GCS Failsafe'''
@ -9569,6 +9610,7 @@ class AutoTestCopter(AutoTest):
self.BrakeMode,
self.RecordThenPlayMission,
self.ThrottleFailsafe,
self.ThrottleFailsafePassthrough,
self.GCSFailsafe,
self.CustomController,
])