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autotest: add explicit tests for rc-override-times of 0 and -1

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Peter Barker 2020-01-23 16:50:00 +11:00 committed by Peter Barker
parent fbd502d7ab
commit cc5359d774
1 changed files with 75 additions and 1 deletions
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76
Tools/autotest/apmrover2.py
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@ -772,8 +772,82 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
if m.chan3_raw == normal_rc_throttle:
break
self.start_subtest("Check override time of zero disables overrides")
old = self.get_parameter("RC_OVERRIDE_TIME")
ch = 2
self.set_rc(ch, 1000)
channels = [65535] * 18
channels[ch-1] = 1700
self.progress("Sending override message")
self.mav.mav.rc_channels_override_send(
1, # target system
1, # targe component
*channels
)
self.wait_rc_channel_value(ch, 1700)
self.set_parameter("RC_OVERRIDE_TIME", 0)
self.wait_rc_channel_value(ch, 1000)
self.set_parameter("RC_OVERRIDE_TIME", old)
self.wait_rc_channel_value(ch, 1700)
self.mav.mav.rc_channels_override_send(
1, # target system
1, # targe component
*channels
)
self.wait_rc_channel_value(ch, 1700)
self.set_parameter("RC_OVERRIDE_TIME", 0)
self.wait_rc_channel_value(ch, 1000)
self.set_parameter("RC_OVERRIDE_TIME", old)
self.wait_rc_channel_value(ch, 1700)
self.start_subtest("Check override time of -1 disables override timeouts")
self.progress("Ensuring timeout works")
self.wait_rc_channel_value(ch, 1000, timeout=5)
self.set_parameter("RC_OVERRIDE_TIME", 10)
self.progress("Sending override message")
self.mav.mav.rc_channels_override_send(
1, # target system
1, # targe component
*channels
)
self.wait_rc_channel_value(ch, 1700)
tstart = self.get_sim_time()
self.wait_rc_channel_value(ch, 1000, timeout=12)
delta = self.get_sim_time() - tstart
if delta > 12:
raise NotAchievedException("Took too long to revert RC channel value (delta=%f)" % delta)
if delta < 9:
raise NotAchievedException("Didn't take long enough to revert RC channel value (delta=%f)" % delta)
self.progress("Disabling RC override timeout")
self.set_parameter("RC_OVERRIDE_TIME", -1)
self.mav.mav.rc_channels_override_send(
1, # target system
1, # targe component
*channels
)
self.wait_rc_channel_value(ch, 1700)
tstart = self.get_sim_time()
while True:
# warning: this is get_sim_time() and can slurp messages on you!
delta = self.get_sim_time() - tstart
if delta > 20:
break
m = self.mav.recv_match(type='RC_CHANNELS',
blocking=True,
timeout=1)
if m is None:
raise NotAchievedException("Did not get RC_CHANNELS")
channel_field = "chan%u_raw" % ch
m_value = getattr(m, channel_field)
if m_value != 1700:
raise NotAchievedException("Value reverted after %f seconds when it should not have (got=%u) (want=%u)" % (delta, m_value, 1700))
self.set_parameter("RC_OVERRIDE_TIME", old)
except Exception as e:
self.progress("Exception caught")
self.progress("Exception caught: %s" %
self.get_exception_stacktrace(e))
ex = e
self.context_pop()