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Tools: autotest: add test for QuadPlane controller pre-arm checks

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This commit is contained in:
Peter Barker 2019-03-05 14:52:24 +11:00 committed by Andrew Tridgell
parent cf45b54070
commit b47b97a981
3 changed files with 35 additions and 25 deletions
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26
Tools/autotest/arducopter.py
View File

@ -2786,31 +2786,7 @@ class AutoTestCopter(AutoTest):
super(AutoTestCopter, self).test_arm_feature()
def test_parameter_checks(self):
self.wait_ready_to_arm()
self.context_push()
self.set_parameter("PSC_POSXY_P", -1)
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0,
timeout=2,
want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.context_pop()
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0,
timeout=2,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED)
self.disarm_vehicle()
self.test_parameter_checks_poscontrol("PSC")
def initial_mode(self):
return "STABILIZE"

27
Tools/autotest/common.py
View File

@ -2330,6 +2330,33 @@ switch value'''
def disabled_tests(self):
return {}
def test_parameter_checks_poscontrol(self, param_prefix):
self.wait_ready_to_arm()
self.context_push()
self.set_parameter("%s_POSXY_P" % param_prefix, -1)
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0,
timeout=2,
want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.context_pop()
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0,
timeout=2,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED)
self.disarm_vehicle()
def test_pid_tuning(self):
self.progress("making sure we're not getting PID_TUNING messages")
m = self.mav.recv_match(type='PID_TUNING', blocking=True, timeout=5)

7
Tools/autotest/quadplane.py
View File

@ -192,6 +192,9 @@ class AutoTestQuadPlane(AutoTest):
self.change_mode("FBWA") # we don't update PIDs in MANUAL
super(AutoTestQuadPlane, self).test_pid_tuning()
def test_parameter_checks(self):
self.test_parameter_checks_poscontrol("Q_P")
def default_mode(self):
return "MANUAL"
@ -212,6 +215,10 @@ class AutoTestQuadPlane(AutoTest):
("QAutoTune", "Fly QAUTOTUNE mode", self.fly_qautotune),
("ParameterChecks",
"Test Arming Parameter Checks",
self.test_parameter_checks),
("Mission", "Dalby Mission",
lambda: self.fly_mission(m, f))
])