Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

autotest: Add test for handling of param2 (reset) of DO_SET_MISSION_CURRENT

Browse Source
This commit is contained in:
Nick Exton 2023-10-09 11:05:51 +11:00 committed by Andrew Tridgell
parent 59c5092810
commit e2e05af914
2 changed files with 27 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

25
Tools/autotest/arducopter.py
View File

@ -3226,6 +3226,30 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.wait_disarmed()
self.delay_sim_time(20)
def FlyMissionTwiceWithReset(self):
'''Fly a mission twice in a row without changing modes in between.
Allow the mission to complete, then reset the mission state machine and restart the mission.'''
self.upload_simple_relhome_mission([
(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 20),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 20, 0, 20),
(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
])
num_wp = self.get_mission_count()
self.set_parameter("AUTO_OPTIONS", 3)
self.change_mode('AUTO')
self.wait_ready_to_arm()
for i in 1, 2:
self.progress("run %u" % i)
# Use the "Reset Mission" param of DO_SET_MISSION_CURRENT to reset mission state machine
self.set_current_waypoint_using_mav_cmd_do_set_mission_current(seq=0, reset=1)
self.arm_vehicle()
self.wait_waypoint(num_wp-1, num_wp-1)
self.wait_disarmed()
self.delay_sim_time(20)
def GPSViconSwitching(self):
"""Fly GPS and Vicon switching test"""
self.customise_SITL_commandline(["--uartF=sim:vicon:"])
@ -10544,6 +10568,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.ThrottleGainBoost,
self.ScriptMountPOI,
self.FlyMissionTwice,
self.FlyMissionTwiceWithReset,
self.IMUConsistency,
self.AHRSTrimLand,
self.GuidedYawRate,

2
Tools/autotest/vehicle_test_suite.py
View File

@ -5911,10 +5911,12 @@ class TestSuite(ABC):
def set_current_waypoint_using_mav_cmd_do_set_mission_current(
self,
seq,
reset=0,
target_sysid=1,
target_compid=1):
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_MISSION_CURRENT,
p1=seq,
p2=reset,
timeout=1,
target_sysid=target_sysid,
target_compid=target_compid)