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autotest: add instant-disarm radio failsafe test

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Peter Barker 2020-02-24 09:47:16 +11:00 committed by Peter Barker
parent 2b24e922a7
commit b3bfc0bd32
1 changed files with 10 additions and 1 deletions
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11
Tools/autotest/arducopter.py
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@ -467,7 +467,16 @@ class AutoTestCopter(AutoTest):
# Tests all actions and logic behind the radio failsafe
def fly_throttle_failsafe(self, side=60, timeout=360):
# Trigger and RC failure with the failsafe disabled. Verify no action taken.
self.start_subtest("If you haven't taken off yet RC failure should be instant disarm")
self.change_mode("STABILIZE")
self.set_parameter("DISARM_DELAY", 0)
self.arm_vehicle()
self.set_parameter("SIM_RC_FAIL", 1)
self.disarm_wait(timeout=1)
self.set_parameter("SIM_RC_FAIL", 0)
self.set_parameter("DISARM_DELAY", 10)
# Trigger an RC failure with the failsafe disabled. Verify no action taken.
self.start_subtest("Radio failsafe disabled test: FS_THR_ENABLE=0 should take no failsafe action")
self.set_parameter('FS_THR_ENABLE', 0)
self.set_parameter('FS_OPTIONS', 0)