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Tools: handle MAV_CMD_DO_FLIGHTTERMINATION as both long and int

This commit is contained in:
Peter Barker 2023-09-26 16:25:02 +10:00 committed by Tom Pittenger
parent eb0d421bfc
commit ad70237013
2 changed files with 38 additions and 0 deletions
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18
Tools/autotest/arducopter.py
View File

@ -10264,6 +10264,23 @@ class AutoTestCopter(AutoTest):
self.disarm_vehicle(force=True)
self.reboot_sitl()
def _MAV_CMD_DO_FLIGHTTERMINATION(self, command):
self.set_parameters({
"SYSID_MYGCS": self.mav.source_system,
"DISARM_DELAY": 0,
})
self.wait_ready_to_arm()
self.arm_vehicle()
self.context_collect('STATUSTEXT')
command(mavutil.mavlink.MAV_CMD_DO_FLIGHTTERMINATION, p1=1)
self.wait_disarmed()
self.reboot_sitl()
def MAV_CMD_DO_FLIGHTTERMINATION(self):
'''test MAV_CMD_DO_FLIGHTTERMINATION works on Copter'''
self._MAV_CMD_DO_FLIGHTTERMINATION(self.run_cmd)
self._MAV_CMD_DO_FLIGHTTERMINATION(self.run_cmd_int)
def tests2b(self): # this block currently around 9.5mins here
'''return list of all tests'''
ret = ([
@ -10328,6 +10345,7 @@ class AutoTestCopter(AutoTest):
self.RPLidarA2,
self.SafetySwitch,
self.BrakeZ,
self.MAV_CMD_DO_FLIGHTTERMINATION,
])
return ret

20
Tools/autotest/arduplane.py
View File

@ -4926,6 +4926,25 @@ class AutoTestPlane(AutoTest):
self._MAV_CMD_DO_GO_AROUND(self.run_cmd)
self._MAV_CMD_DO_GO_AROUND(self.run_cmd_int)
def _MAV_CMD_DO_FLIGHTTERMINATION(self, command):
self.set_parameters({
"AFS_ENABLE": 1,
"SYSID_MYGCS": self.mav.source_system,
"AFS_TERM_ACTION": 42,
})
self.wait_ready_to_arm()
self.arm_vehicle()
self.context_collect('STATUSTEXT')
command(mavutil.mavlink.MAV_CMD_DO_FLIGHTTERMINATION, p1=1)
self.wait_disarmed()
self.wait_text('Terminating due to GCS request', check_context=True)
self.reboot_sitl()
def MAV_CMD_DO_FLIGHTTERMINATION(self):
'''test MAV_CMD_DO_FLIGHTTERMINATION works on Plane'''
self._MAV_CMD_DO_FLIGHTTERMINATION(self.run_cmd)
self._MAV_CMD_DO_FLIGHTTERMINATION(self.run_cmd_int)
def tests(self):
'''return list of all tests'''
ret = super(AutoTestPlane, self).tests()
@ -5022,6 +5041,7 @@ class AutoTestPlane(AutoTest):
self.MAV_CMD_DO_INVERTED_FLIGHT,
self.MAV_CMD_DO_AUTOTUNE_ENABLE,
self.MAV_CMD_DO_GO_AROUND,
self.MAV_CMD_DO_FLIGHTTERMINATION,
])
return ret