From e8792eec68a23cd3c75e29413ea4c6f34659e233 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 20 Sep 2023 19:04:40 +1000 Subject: [PATCH] autotest: add test for enabling autotune via mavlink command --- Tools/autotest/arduplane.py | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index 1bf046d5f2..dd118eacbd 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -4879,6 +4879,14 @@ class AutoTestPlane(AutoTest): self.fly_home_land_and_disarm() + def MAV_CMD_DO_AUTOTUNE_ENABLE(self): + '''test enabling autotune via mavlink''' + self.context_collect('STATUSTEXT') + self.run_cmd(mavutil.mavlink.MAV_CMD_DO_AUTOTUNE_ENABLE, p1=1) + self.wait_statustext('Started autotune', check_context=True) + self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_AUTOTUNE_ENABLE, p1=0) + self.wait_statustext('Stopped autotune', check_context=True) + def DO_PARACHUTE(self): '''test triggering parachute via mavlink''' self.set_parameters({ @@ -4995,6 +5003,7 @@ class AutoTestPlane(AutoTest): self.MAV_CMD_GUIDED_CHANGE_ALTITUDE, self.MAV_CMD_PREFLIGHT_CALIBRATION, self.MAV_CMD_DO_INVERTED_FLIGHT, + self.MAV_CMD_DO_AUTOTUNE_ENABLE, ]) return ret