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Tools: autotest: add a test for Rover's INITIAL_MODE

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Peter Barker 2018-12-07 23:45:44 +11:00 committed by Peter Barker
parent dba76d2c8b
commit b287476cc6
1 changed files with 28 additions and 0 deletions
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28
Tools/autotest/rover.py
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@ -1192,6 +1192,33 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.do_set_mode_via_command_long("HOLD")
self.do_set_mode_via_command_long("MANUAL")
def InitialMode(self):
'''test INITIAL_MODE parameter works'''
# from mavproxy_rc.py
self.wait_ready_to_arm()
mapping = [0, 1165, 1295, 1425, 1555, 1685, 1815]
mode_ch = 8
throttle_ch = 3
self.set_parameter('MODE5', 3)
self.set_rc(mode_ch, mapping[5])
self.wait_mode('STEERING')
self.set_rc(mode_ch, mapping[6])
self.wait_mode('MANUAL')
self.set_parameter("INITIAL_MODE", 1) # acro
# stop the vehicle polling the mode switch at boot:
self.set_parameter('FS_ACTION', 0) # do nothing when radio fails
self.set_rc(throttle_ch, 900) # RC fail
self.reboot_sitl()
self.wait_mode(1)
self.progress("Make sure we stay in this mode")
self.delay_sim_time(5)
self.wait_mode(1)
# now change modes with a switch:
self.set_rc(throttle_ch, 1100)
self.delay_sim_time(3)
self.set_rc(mode_ch, mapping[5])
self.wait_mode('STEERING')
def MAVProxy_DO_SET_MODE(self):
'''Set mode using MAVProxy commandline DO_SET_MODE'''
mavproxy = self.start_mavproxy()
@ -6316,6 +6343,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.AutoDock,
self.PrivateChannel,
self.GCSFailsafe,
self.InitialMode,
])
return ret