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Tools: common: add a method to try arming and wait a result

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This commit is contained in:
Pierre Kancir 2020-05-13 23:28:41 +02:00 committed by Andrew Tridgell
parent 59de90d97f
commit b72a17533c
1 changed files with 27 additions and 0 deletions
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27
Tools/autotest/common.py
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@ -2499,6 +2499,33 @@ class AutoTest(ABC):
0,
timeout=timeout)
def try_arm(self, result=True, expect_msg=None, timeout=60):
"""Send Arming command, wait for the expected result and statustext."""
self.progress("Try arming and wait for expected result")
self.drain_mav()
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED if result else mavutil.mavlink.MAV_RESULT_FAILED,
timeout=timeout)
if expect_msg is not None:
self.wait_statustext(expect_msg, timeout=timeout, the_function=lambda: self.send_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0,
target_sysid=None,
target_compid=None,
))
def arm_vehicle(self, timeout=20):
"""Arm vehicle with mavlink arm message."""
self.progress("Arm motors with MAVLink cmd")