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autotest: Test triggering Auxillary Functions via mavlink

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Peter Barker 2021-02-18 12:00:26 +11:00 committed by Peter Barker
parent 2d61ded1f3
commit b55094fef4
1 changed files with 24 additions and 0 deletions
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24
Tools/autotest/arduplane.py
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@ -2738,6 +2738,26 @@ class AutoTestPlane(AutoTest):
attempt_fence_breached_disable(start_mode="FBWA", end_mode="FBWA", expected_mode="GUIDED", action=6)
attempt_fence_breached_disable(start_mode="FBWA", end_mode="FBWA", expected_mode="GUIDED", action=7)
def run_auxfunc(self, function, level):
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_AUX_FUNCTION,
function, # p1
level, # p2
0, # p3
0, # p4
0, # p5
0, # p6
0, # p7
)
def fly_aux_function(self):
self.context_collect('STATUSTEXT')
self.run_auxfunc(64, 2) # 64 == reverse throttle
self.wait_statustext("RevThrottle: ENABLE", check_context=True)
self.run_auxfunc(64, 0)
self.wait_statustext("RevThrottle: DISABLE", check_context=True)
self.run_auxfunc(65, 2) # 65 == GPS_DISABLE
def tests(self):
'''return list of all tests'''
ret = super(AutoTestPlane, self).tests()
@ -2911,6 +2931,10 @@ class AutoTestPlane(AutoTest):
"Test IMU temperature calibration",
self.test_imu_tempcal),
("MAV_DO_AUX_FUNCTION",
"Test triggering Auxillary Functions via mavlink",
self.fly_aux_function),
("LogUpload",
"Log upload",
self.log_upload),