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autotest: Update tests for relay

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Michael du Breuil 2023-11-07 09:42:15 -07:00 committed by Peter Barker
parent 3937e96738
commit a45353b17f
4 changed files with 25 additions and 11 deletions
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7
Tools/autotest/arduplane.py
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@ -1124,9 +1124,12 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
def TestRCRelay(self): def TestRCRelay(self):
'''Test Relay RC Channel Option''' '''Test Relay RC Channel Option'''
self.set_parameter("RC12_OPTION", 28) # Relay On/Off self.set_parameters({
"RELAY1_FUNCTION": 1, # Enable relay as a standard relay pin
"RC12_OPTION": 28 # Relay On/Off
})
self.set_rc(12, 1000) self.set_rc(12, 1000)
self.reboot_sitl() # needed for RC12_OPTION to take effect self.reboot_sitl() # needed for RC12_OPTION and RELAY1_FUNCTION to take effect
off = self.get_parameter("SIM_PIN_MASK") off = self.get_parameter("SIM_PIN_MASK")
if off: if off:

4
Tools/autotest/default_params/rover.parm
View File

@ -24,8 +24,8 @@ RC1_MAX 2000
RC1_MIN 1000 RC1_MIN 1000
RC3_MAX 2000 RC3_MAX 2000
RC3_MIN 1000 RC3_MIN 1000
RELAY_PIN 1 RELAY1_PIN 1
RELAY_PIN2 2 RELAY2_PIN 2
SERVO1_MIN 1000 SERVO1_MIN 1000
SERVO1_MAX 2000 SERVO1_MAX 2000
SERVO3_MAX 2000 SERVO3_MAX 2000

5
Tools/autotest/default_params/vee-gull 005.param
View File

@ -456,10 +456,7 @@ RCMAP_ROLL,1
RCMAP_THROTTLE,3 RCMAP_THROTTLE,3
RCMAP_YAW,4 RCMAP_YAW,4
RELAY_DEFAULT,0 RELAY_DEFAULT,0
RELAY_PIN,13 RELAY1_PIN,13
RELAY_PIN2,-1
RELAY_PIN3,-1
RELAY_PIN4,-1
RLL_RATE_D,0.000000 RLL_RATE_D,0.000000
RLL_RATE_FF,0.255000 RLL_RATE_FF,0.255000
RLL_RATE_I,0.050000 RLL_RATE_I,0.050000

20
Tools/autotest/rover.py
View File

@ -568,6 +568,13 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
'''Test ServoRelayEvents''' '''Test ServoRelayEvents'''
for method in self.run_cmd, self.run_cmd_int: for method in self.run_cmd, self.run_cmd_int:
self.context_push() self.context_push()
self.set_parameters({
"RELAY1_FUNCTION": 1, # Enable relay 1 as a standard relay pin
"RELAY2_FUNCTION": 1, # Enable relay 2 as a standard relay pin
})
self.reboot_sitl() # Needed for relay functions to take effect
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=0) method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=0)
off = self.get_parameter("SIM_PIN_MASK") off = self.get_parameter("SIM_PIN_MASK")
method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=1) method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=1)
@ -602,8 +609,14 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
"on": 0, "on": 0,
}) })
# add another servo: # add another relay and ensure that it changes the "present field"
self.set_parameter("RELAY_PIN6", 14) self.set_parameters({
"RELAY6_FUNCTION": 1, # Enable relay 6 as a standard relay pin
"RELAY6_PIN": 14, # Set pin number
})
self.reboot_sitl() # Needed for relay function to take effect
self.set_message_rate_hz("RELAY_STATUS", 10) # Need to re-request the message since reboot
self.assert_received_message_field_values('RELAY_STATUS', { self.assert_received_message_field_values('RELAY_STATUS', {
"present": 35, "present": 35,
"on": 0, "on": 0,
@ -5352,7 +5365,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.context_collect("STATUSTEXT") self.context_collect("STATUSTEXT")
self.set_parameters({ self.set_parameters({
"SCR_ENABLE": 1, "SCR_ENABLE": 1,
"RELAY_PIN": 1, "RELAY1_FUNCTION": 1,
"RELAY1_PIN": 1
}) })
self.install_example_script_context("RCIN_test.lua") self.install_example_script_context("RCIN_test.lua")
self.reboot_sitl() self.reboot_sitl()