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autotest: correct sub gripper mission 

Ordinarily not run because gripper is disabled
This commit is contained in:
Peter Barker 2021-03-27 13:22:16 +11:00 committed by Peter Barker
parent e8f96efe72
commit d621fe0cde
1 changed files with 11 additions and 22 deletions
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33
Tools/autotest/ardusub.py
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@ -267,30 +267,19 @@ class AutoTestSub(AutoTest):
self.progress("Mission OK")
def test_gripper_mission(self):
with self.Context(self):
self.test_gripper_body()
def test_gripper_body(self):
ex = None
try:
try:
self.get_parameter("GRIP_ENABLE", timeout=5)
except NotAchievedException:
self.progress("Skipping; Gripper not enabled in config?")
return
self.get_parameter("GRIP_ENABLE", timeout=5)
except NotAchievedException:
self.progress("Skipping; Gripper not enabled in config?")
return
self.load_mission("sub-gripper-mission.txt")
self.change_mode('LOITER')
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('AUTO')
self.wait_statustext("Gripper Grabbed", timeout=60)
self.wait_statustext("Gripper Released", timeout=60)
except Exception as e:
self.print_exception_caught(e)
ex = e
if ex is not None:
raise ex
self.load_mission("sub-gripper-mission.txt")
self.change_mode('LOITER')
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('AUTO')
self.wait_statustext("Gripper Grabbed", timeout=60)
self.wait_statustext("Gripper Released", timeout=60)
def dive_set_position_target(self):
self.change_mode('GUIDED')