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autotest: add test for Copter MISSION_START mavlink command

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Peter Barker 2023-09-19 17:26:41 +10:00 committed by Peter Barker
parent b3dd5c20c5
commit c352de2dd8
1 changed files with 18 additions and 0 deletions
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18
Tools/autotest/arducopter.py
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@ -10170,6 +10170,23 @@ class AutoTestCopter(AutoTest):
self.wait_for_local_velocity(vx=0, vy=0, vz_up=0, timeout=10) self.wait_for_local_velocity(vx=0, vy=0, vz_up=0, timeout=10)
self.land_and_disarm() self.land_and_disarm()
def MISSION_START(self):
'''test mavlink command MAV_CMD_MISSION_START'''
self.upload_simple_relhome_mission([
(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 200),
(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
])
for command in self.run_cmd, self.run_cmd_int:
self.change_mode('LOITER')
self.set_current_waypoint(1)
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('AUTO')
command(mavutil.mavlink.MAV_CMD_MISSION_START)
self.wait_altitude(20, 1000, relative=True)
self.change_mode('RTL')
self.wait_disarmed()
def tests2b(self): # this block currently around 9.5mins here def tests2b(self): # this block currently around 9.5mins here
'''return list of all tests''' '''return list of all tests'''
ret = ([ ret = ([
@ -10206,6 +10223,7 @@ class AutoTestCopter(AutoTest):
self.GroundEffectCompensation_touchDownExpected, self.GroundEffectCompensation_touchDownExpected,
self.GroundEffectCompensation_takeOffExpected, self.GroundEffectCompensation_takeOffExpected,
self.DO_CHANGE_SPEED, self.DO_CHANGE_SPEED,
self.MISSION_START,
self.AUTO_LAND_TO_BRAKE, self.AUTO_LAND_TO_BRAKE,
self.WPNAV_SPEED, self.WPNAV_SPEED,
self.WPNAV_SPEED_UP, self.WPNAV_SPEED_UP,