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autotest: add tests for Rover MAV_CMD_NAV_SET_YAW_SPEED

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This commit is contained in:
Peter Barker 2023-08-25 11:01:28 +10:00 committed by Peter Barker
parent 76c6d537ed
commit aa6f351571
2 changed files with 68 additions and 1 deletions
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7
Tools/autotest/common.py
View File

@ -6422,6 +6422,10 @@ class AutoTest(ABC):
**kwargs
)
def groundspeed(self):
m = self.assert_receive_message('VFR_HUD')
return m.groundspeed
def wait_groundspeed(self, speed_min, speed_max, timeout=30, **kwargs):
self.wait_vfr_hud_speed("groundspeed", speed_min, speed_max, timeout=timeout, **kwargs)
@ -6615,7 +6619,10 @@ class AutoTest(ABC):
while self.get_sim_time_cached() < tstart + timeout: # if we failed to received message with the getter the sim time isn't updated # noqa
last_value = current_value_getter()
if called_function is not None:
if print_diagnostics_as_target_not_range:
called_function(last_value, target)
else:
called_function(last_value, minimum, maximum)
if validator is not None:
if print_diagnostics_as_target_not_range:
is_value_valid = validator(last_value, target)

60
Tools/autotest/rover.py
View File

@ -6410,6 +6410,65 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.wait_groundspeed(3, 100)
self.disarm_vehicle()
def MAV_CMD_NAV_SET_YAW_SPEED(self):
'''tests for MAV_CMD_NAV_SET_YAW_SPEED guided-mode command'''
self.change_mode('GUIDED')
self.wait_ready_to_arm()
self.arm_vehicle()
for method in self.run_cmd, self.run_cmd_int:
self.change_mode('MANUAL')
self.wait_groundspeed(0, 1)
self.change_mode('GUIDED')
self.start_subtest("Absolute angles")
for (heading, speed) in (10, 5), (190, 10), (0, 2), (135, 6):
def cf(*args, **kwargs):
method(
mavutil.mavlink.MAV_CMD_NAV_SET_YAW_SPEED,
p1=heading,
p2=speed,
p3=0, # zero is absolute-angles
)
self.wait_groundspeed(speed-0.5, speed+0.5, called_function=cf, minimum_duration=2)
self.wait_heading(heading-0.5, heading+0.5, called_function=cf, minimum_duration=2)
self.start_subtest("relative angles")
original_angle = 90
method(
mavutil.mavlink.MAV_CMD_NAV_SET_YAW_SPEED,
p1=original_angle,
p2=5,
p3=0, # zero is absolute-angles
)
self.wait_groundspeed(4, 6)
self.wait_heading(original_angle-0.5, original_angle+0.5)
expected_angle = original_angle
for (angle_delta, speed) in (5, 6), (-30, 2), (180, 7):
method(
mavutil.mavlink.MAV_CMD_NAV_SET_YAW_SPEED,
p1=angle_delta,
p2=speed,
p3=1, # one is relative-angles
)
def cf(*args, **kwargs):
method(
mavutil.mavlink.MAV_CMD_NAV_SET_YAW_SPEED,
p1=0,
p2=speed,
p3=1, # one is absolute-angles
)
expected_angle += angle_delta
if expected_angle < 0:
expected_angle += 360
if expected_angle > 360:
expected_angle -= 360
self.wait_groundspeed(speed-0.5, speed+0.5, called_function=cf, minimum_duration=2)
self.wait_heading(expected_angle, called_function=cf, minimum_duration=2)
self.do_RTL()
self.disarm_vehicle()
def tests(self):
'''return list of all tests'''
ret = super(AutoTestRover, self).tests()
@ -6445,6 +6504,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.MAV_CMD_DO_SET_MISSION_CURRENT,
self.MAV_CMD_DO_CHANGE_SPEED,
self.MAV_CMD_MISSION_START,
self.MAV_CMD_NAV_SET_YAW_SPEED,
self.Button,
self.Rally,
self.Offboard,