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Tools: autotest: add test for motor test

This commit is contained in:
Peter Barker 2019-08-18 10:04:37 +10:00 committed by Randy Mackay
parent 51070b39d9
commit c153a2d891
1 changed files with 22 additions and 0 deletions
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22
Tools/autotest/apmrover2.py
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@ -1811,6 +1811,24 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.disarm_vehicle() self.disarm_vehicle()
def test_motor_test(self):
'''AKA run-rover-run'''
magic_throttle_value = 1812
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_MOTOR_TEST,
1, # p1 - motor instance
mavutil.mavlink.MOTOR_TEST_THROTTLE_PWM, # p2 - throttle type
magic_throttle_value, # p3 - throttle
5, # p4 - timeout
1, # p5 - motor count
0, # p6 - test order (see MOTOR_TEST_ORDER)
0, # p7
)
self.mav.motors_armed_wait()
self.progress("Waiting for magic throttle value")
self.wait_servo_channel_value(3, magic_throttle_value)
self.wait_servo_channel_value(3, self.get_parameter("RC3_TRIM", 5), timeout=10)
self.mav.motors_disarmed_wait()
def tests(self): def tests(self):
'''return list of all tests''' '''return list of all tests'''
ret = super(AutoTestRover, self).tests() ret = super(AutoTestRover, self).tests()
@ -1925,6 +1943,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
"Upload and download of rally", "Upload and download of rally",
self.test_gcs_rally), self.test_gcs_rally),
("MotorTest",
"Motor Test triggered via mavlink",
self.test_motor_test),
("DataFlashOverMAVLink", ("DataFlashOverMAVLink",
"Test DataFlash over MAVLink", "Test DataFlash over MAVLink",
self.test_dataflash_over_mavlink), self.test_dataflash_over_mavlink),