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Tools: accept MAV_CMD_CONDITION_YAW as both long and int in Sub

This commit is contained in:
Peter Barker 2023-10-04 23:49:34 +11:00 committed by Randy Mackay
parent 4843fa4c4b
commit e2531a93f2
1 changed files with 42 additions and 0 deletions
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42
Tools/autotest/ardusub.py
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@ -475,6 +475,47 @@ class AutoTestSub(AutoTest):
self.wait_groundspeed(speed-0.02, speed+0.02, minimum_duration=2)
self.disarm_vehicle()
def _MAV_CMD_CONDITION_YAW(self, run_cmd):
self.arm_vehicle()
self.change_mode('GUIDED')
for angle in 5, 30, 60, 10:
angular_rate = 10
direction = 1
relative_or_absolute = 0
run_cmd(
mavutil.mavlink.MAV_CMD_CONDITION_YAW,
p1=angle,
p2=angular_rate,
p3=direction,
p4=relative_or_absolute, # 1 for relative, 0 for absolute
)
self.wait_heading(angle, minimum_duration=2)
self.start_subtest('Relative angle')
run_cmd(
mavutil.mavlink.MAV_CMD_CONDITION_YAW,
p1=0,
p2=10,
p3=1,
p4=0, # 1 for relative, 0 for absolute
)
self.wait_heading(0, minimum_duration=2)
run_cmd(
mavutil.mavlink.MAV_CMD_CONDITION_YAW,
p1=20,
p2=10,
p3=1,
p4=1, # 1 for relative, 0 for absolute
)
self.wait_heading(20, minimum_duration=2)
self.disarm_vehicle()
def MAV_CMD_CONDITION_YAW(self):
'''ensure vehicle yaws according to GCS command'''
self._MAV_CMD_CONDITION_YAW(self.run_cmd)
self._MAV_CMD_CONDITION_YAW(self.run_cmd_int)
def tests(self):
'''return list of all tests'''
ret = super(AutoTestSub, self).tests()
@ -494,6 +535,7 @@ class AutoTestSub(AutoTest):
self.MAV_CMD_NAV_LAND,
self.MAV_CMD_MISSION_START,
self.MAV_CMD_DO_CHANGE_SPEED,
self.MAV_CMD_CONDITION_YAW,
])
return ret