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AutoTest: Corrections to autotests

This commit is contained in:
James O'Shannessy 2021-01-08 10:27:27 +11:00 committed by Peter Barker
parent c783410494
commit bbd606b8b5
2 changed files with 14 additions and 13 deletions
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4
Tools/autotest/arducopter.py
View File

@ -1338,7 +1338,7 @@ class AutoTestCopter(AutoTest):
# fly_alt_min_fence_test - fly down until you hit the fence # fly_alt_min_fence_test - fly down until you hit the fence
def fly_alt_min_fence_test(self): def fly_alt_min_fence_test(self):
self.takeoff(50, mode="LOITER", timeout=120) self.takeoff(30, mode="LOITER", timeout=60)
"""Hold loiter position.""" """Hold loiter position."""
self.mavproxy.send('switch 5\n') # loiter mode self.mavproxy.send('switch 5\n') # loiter mode
self.wait_mode('LOITER') self.wait_mode('LOITER')
@ -1350,7 +1350,7 @@ class AutoTestCopter(AutoTest):
self.set_parameter("FENCE_TYPE", 8) self.set_parameter("FENCE_TYPE", 8)
self.set_parameter("FENCE_ALT_MIN", 20) self.set_parameter("FENCE_ALT_MIN", 20)
self.change_alt(50) self.change_alt(30)
# Activate the floor fence # Activate the floor fence
# TODO this test should run without requiring this # TODO this test should run without requiring this

23
Tools/autotest/arduplane.py
View File

@ -863,7 +863,7 @@ class AutoTestPlane(AutoTest):
self.wait_rc_channel_value(3, 950) self.wait_rc_channel_value(3, 950)
self.drain_mav_unparsed() self.drain_mav_unparsed()
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m)) self.progress("Got (%s)" % str(m))
self.progress("Testing receiver enabled") self.progress("Testing receiver enabled")
if (not (m.onboard_control_sensors_enabled & receiver_bit)): if (not (m.onboard_control_sensors_enabled & receiver_bit)):
raise NotAchievedException("Receiver not enabled") raise NotAchievedException("Receiver not enabled")
@ -899,7 +899,7 @@ class AutoTestPlane(AutoTest):
raise NotAchievedException("Did not go via circle mode") raise NotAchievedException("Did not go via circle mode")
self.drain_mav_unparsed() self.drain_mav_unparsed()
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m)) self.progress("Got (%s)" % str(m))
self.progress("Testing receiver enabled") self.progress("Testing receiver enabled")
if (not (m.onboard_control_sensors_enabled & receiver_bit)): if (not (m.onboard_control_sensors_enabled & receiver_bit)):
raise NotAchievedException("Receiver not enabled") raise NotAchievedException("Receiver not enabled")
@ -958,7 +958,7 @@ class AutoTestPlane(AutoTest):
self.progress("Checking fence is not present before being configured") self.progress("Checking fence is not present before being configured")
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m)) self.progress("Got (%s)" % str(m))
if (m.onboard_control_sensors_enabled & fence_bit): if (m.onboard_control_sensors_enabled & fence_bit):
raise NotAchievedException("Fence enabled before being configured") raise NotAchievedException("Fence enabled before being configured")
@ -974,9 +974,10 @@ class AutoTestPlane(AutoTest):
7: 2000, 7: 2000,
}) # Turn fence on with aux function }) # Turn fence on with aux function
m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=2)
self.mavproxy.expect("fence enabled") self.progress("Got (%s)" % str(m))
self.delay_sim_time(1) # This is needed else the SYS_STATUS may not have updated if m is None:
raise NotAchievedException("Got FENCE_STATUS unexpectedly")
self.progress("Checking fence is initially OK") self.progress("Checking fence is initially OK")
self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE, self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE,
@ -996,7 +997,7 @@ class AutoTestPlane(AutoTest):
self.progress("Checking fence is OK after receiver failure (bind-values)") self.progress("Checking fence is OK after receiver failure (bind-values)")
fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m)) self.progress("Got (%s)" % str(m))
if (not (m.onboard_control_sensors_enabled & fence_bit)): if (not (m.onboard_control_sensors_enabled & fence_bit)):
raise NotAchievedException("Fence not enabled after RC fail") raise NotAchievedException("Fence not enabled after RC fail")
@ -1677,7 +1678,7 @@ class AutoTestPlane(AutoTest):
self.delay_sim_time(1) # let the switch get polled self.delay_sim_time(1) # let the switch get polled
self.test_adsb_send_threatening_adsb_message(here) self.test_adsb_send_threatening_adsb_message(here)
m = self.mav.recv_match(type='COLLISION', blocking=True, timeout=4) m = self.mav.recv_match(type='COLLISION', blocking=True, timeout=4)
print("Got (%s)" % str(m)) self.progress("Got (%s)" % str(m))
if m is not None: if m is not None:
raise NotAchievedException("Got collision message when I shouldn't have") raise NotAchievedException("Got collision message when I shouldn't have")
@ -2342,7 +2343,7 @@ class AutoTestPlane(AutoTest):
self.progress("Fly above ceiling and check for breach") self.progress("Fly above ceiling and check for breach")
self.change_altitude(self.homeloc.alt + cruise_alt + 80) self.change_altitude(self.homeloc.alt + cruise_alt + 80)
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m)) self.progress("Got (%s)" % str(m))
if ((m.onboard_control_sensors_health & fence_bit)): if ((m.onboard_control_sensors_health & fence_bit)):
raise NotAchievedException("Fence Ceiling did not breach") raise NotAchievedException("Fence Ceiling did not breach")
@ -2350,7 +2351,7 @@ class AutoTestPlane(AutoTest):
self.change_altitude(self.homeloc.alt + cruise_alt) self.change_altitude(self.homeloc.alt + cruise_alt)
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m)) self.progress("Got (%s)" % str(m))
if (not (m.onboard_control_sensors_health & fence_bit)): if (not (m.onboard_control_sensors_health & fence_bit)):
raise NotAchievedException("Fence breach did not clear") raise NotAchievedException("Fence breach did not clear")
@ -2359,7 +2360,7 @@ class AutoTestPlane(AutoTest):
self.change_altitude(self.homeloc.alt + cruise_alt - 80) self.change_altitude(self.homeloc.alt + cruise_alt - 80)
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m)) self.progress("Got (%s)" % str(m))
if ((m.onboard_control_sensors_health & fence_bit)): if ((m.onboard_control_sensors_health & fence_bit)):
raise NotAchievedException("Fence Floor did not breach") raise NotAchievedException("Fence Floor did not breach")