autotest: add skidsteer test

Tools/autotest/apmrover2.py

@@ -11,6 +11,7 @@ import time
 
 from common import AutoTest
 from pysim import util
+from pysim import vehicleinfo
 
 from common import AutoTestTimeoutException
 from common import MsgRcvTimeoutException
@@ -4927,6 +4928,33 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
                 raise NotAchievedException("Did not get correct command_id")
             break
 
+    def test_skid_steer(self):
+        model = "rover-skid"
+        vinfo = vehicleinfo.VehicleInfo()
+        defaults_filepath = vinfo.options["APMrover2"]["frames"][model]["default_params_filename"]
+        self.customise_SITL_commandline([],
+                                        model=model,
+                                        defaults_file=defaults_filepath)
+        self.change_mode("MANUAL")
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.progress("get a known heading to avoid worrying about wrap")
+        # this is steering-type-two-paddles
+        self.set_rc(1, 1400)
+        self.set_rc(3, 1500)
+        self.wait_heading(90)
+        self.progress("straighten up")
+        self.set_rc(1, 1500)
+        self.set_rc(3, 1500)
+        self.progress("steer one way")
+        self.set_rc(1, 1600)
+        self.set_rc(3, 1400)
+        self.wait_heading(120)
+        self.progress("steer the other")
+        self.set_rc(1, 1400)
+        self.set_rc(3, 1600)
+        self.wait_heading(60)
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestRover, self).tests()
@@ -5057,6 +5085,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
              "Test DataFlash SITL backend",
              self.test_dataflash_sitl),
 
+            ("SkidSteer",
+             "Check skid-steering",
+             self.test_skid_steer),
+
             ("PolyFence",
              "PolyFence tests",
              self.test_poly_fence),