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Tools: autotest: add test that rangefinder switch works

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Peter Barker 2019-01-08 09:51:36 +11:00 committed by Peter Barker
parent d6cac4b52a
commit e93cff6e44
1 changed files with 62 additions and 0 deletions
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62
Tools/autotest/arducopter.py
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@ -1446,6 +1446,64 @@ class AutoTestCopter(AutoTest):
if ex is not None:
raise ex
def test_rangefinder(self):
ex = None
self.context_push()
self.progress("Making sure we don't ordinarily get RANGEFINDER")
try:
m = self.mav.recv_match(type='RANGEFINDER',
blocking=True,
timeout=5)
except Exception as e:
print("Caught exception %s" % str(e))
if m is not None:
raise NotAchievedException("Received unexpected RANGEFINDER msg")
try:
self.set_parameter("RNGFND_TYPE", 1)
self.set_parameter("RNGFND_MIN_CM", 0)
self.set_parameter("RNGFND_MAX_CM", 4000)
self.set_parameter("RNGFND_PIN", 0)
self.set_parameter("RNGFND_SCALING", 12.12)
self.set_parameter("RC9_OPTION", 10) # rangefinder
self.set_rc(9, 2000)
self.reboot_sitl()
self.progress("Making sure we now get RANGEFINDER messages")
m = self.mav.recv_match(type='RANGEFINDER',
blocking=True,
timeout=10)
if m is None:
raise NotAchievedException("Did not get expected RANGEFINDER msg")
self.progress("Checking RangeFinder is marked as enabled in mavlink")
m = self.mav.recv_match(type='SYS_STATUS',
blocking=True,
timeout=10)
flags = m.onboard_control_sensors_enabled
if not flags & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION:
raise NotAchievedException("Laser not enabled in SYS_STATUS")
self.progress("Disabling laser using switch")
self.set_rc(9, 1000)
self.delay_sim_time(1)
self.progress("Checking RangeFinder is marked as disabled in mavlink")
m = self.mav.recv_match(type='SYS_STATUS',
blocking=True,
timeout=10)
flags = m.onboard_control_sensors_enabled
if flags & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION:
raise NotAchievedException("Laser enabled in SYS_STATUS")
except Exception as e:
self.progress("Exception caught")
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def fly_precision_sitl(self):
"""Use SITL PrecLand backend precision messages to land aircraft."""
@ -2550,6 +2608,10 @@ class AutoTestCopter(AutoTest):
"Test Camera/Antenna Mount",
self.test_mount),
("RangeFinder",
"Test RangeFinder Basic Functionality",
self.test_rangefinder),
("LogDownLoad",
"Log download",
lambda: self.log_download(