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autotest: add a test to ensure we get voltage from generator in battery_status message

This commit is contained in:
Peter Barker 2020-08-06 18:31:10 +10:00 committed by Peter Barker
parent 3c705d1c60
commit e51427a2bc
1 changed files with 14 additions and 0 deletions
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14
Tools/autotest/arducopter.py
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@ -4822,6 +4822,7 @@ class AutoTestCopter(AutoTest):
self.set_parameter("SIM_RICH_CTRL", 8)
self.set_parameter("RC9_OPTION", 85)
self.set_parameter("LOG_DISARMED", 1)
self.set_parameter("BATT2_MONITOR", 17)
self.set_rc(9, 1000) # remember this is a switch position - stop
self.customise_SITL_commandline(["--uartF=sim:richenpower"])
self.mavproxy.expect("requested state is not RUN")
@ -4854,6 +4855,19 @@ class AutoTestCopter(AutoTest):
self.wait_generator_speed_and_state(8000, 30000, mavutil.mavlink.MAV_GENERATOR_STATUS_FLAG_GENERATING)
bs = self.mav.recv_match(
type="BATTERY_STATUS",
condition="BATTERY_STATUS.id==1", # id is zero-indexed
timeout=1,
blocking=True
)
if bs is None:
raise NotAchievedException("Did not receive BATTERY_STATUS")
self.progress("Received battery status: %s" % str(bs))
want_bs_volt = 50000
if bs.voltages[0] != want_bs_volt:
raise NotAchievedException("Battery voltage not as expected (want=%f) got=(%f)" % (want_bs_volt, bs.voltages[0],))
self.progress("Moving *back* to idle")
self.set_rc(9, 1500) # remember this is a switch position - idle
self.wait_generator_speed_and_state(3000, 10000, mavutil.mavlink.MAV_GENERATOR_STATUS_FLAG_IDLE)