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autotest: add test for FRSkyD battery

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Peter Barker 2021-08-11 10:08:41 +10:00 committed by Peter Barker
parent 0a922426a2
commit cccec5c21c
1 changed files with 31 additions and 1 deletions
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32
Tools/autotest/common.py
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@ -10372,20 +10372,50 @@ switch value'''
if m is None: if m is None:
raise NotAchievedException("Did not receive GLOBAL_POSITION_INT") raise NotAchievedException("Did not receive GLOBAL_POSITION_INT")
gpi_abs_alt = int((m.alt+500) / 1000) # mm -> m gpi_abs_alt = int((m.alt+500) / 1000) # mm -> m
# grab a battery-remaining percentage
self.run_cmd(mavutil.mavlink.MAV_CMD_BATTERY_RESET,
255, # battery mask
96, # percentage
0,
0,
0,
0,
0,
0)
m = self.mav.recv_match(type='BATTERY_STATUS', blocking=True, timeout=1)
if m is None:
raise NotAchievedException("Did not receive BATTERY_STATUS")
want_battery_remaining_pct = m.battery_remaining
tstart = self.get_sim_time_cached() tstart = self.get_sim_time_cached()
have_alt = False
have_battery = False
while True: while True:
t2 = self.get_sim_time_cached() t2 = self.get_sim_time_cached()
if t2 - tstart > 10: if t2 - tstart > 10:
raise AutoTestTimeoutException("Failed to get frsky D data") raise AutoTestTimeoutException("Failed to get frsky D data")
frsky.update() frsky.update()
alt = frsky.get_data(frsky.dataid_GPS_ALT_BP) alt = frsky.get_data(frsky.dataid_GPS_ALT_BP)
self.progress("Got alt (%s) mav=%s" % (str(alt), str(gpi_abs_alt))) self.progress("Got alt (%s) mav=%s" % (str(alt), str(gpi_abs_alt)))
if alt is None: if alt is None:
continue continue
self.drain_mav_unparsed()
if alt == gpi_abs_alt: if alt == gpi_abs_alt:
have_alt = True
batt = frsky.get_data(frsky.dataid_FUEL)
self.progress("Got batt (%s) mav=%s" % (str(batt), str(want_battery_remaining_pct)))
if batt is None:
continue
if batt == want_battery_remaining_pct:
have_battery = True
if have_alt and have_battery:
break break
self.drain_mav_unparsed()
def test_ltm_g(self, ltm): def test_ltm_g(self, ltm):
g = ltm.g() g = ltm.g()
if g is None: if g is None: