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autotest: add tests for JumpToTag

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Peter Barker 2023-02-15 14:05:19 +11:00 committed by Tom Pittenger
parent 28f4ac7bbc
commit edb301a4d0
1 changed files with 103 additions and 0 deletions
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103
Tools/autotest/arduplane.py
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@ -4145,6 +4145,108 @@ class AutoTestPlane(AutoTest):
0) # button mask
self.fly_home_land_and_disarm()
def mission_home_point(self, target_system=1, target_component=1):
'''just an empty-ish item-int to store home'''
return self.mav.mav.mission_item_int_encode(
target_system,
target_component,
0, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL,
mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
0, # current
0, # autocontinue
0, # p1
0, # p2
0, # p3
0, # p4
0, # latitude
0, # longitude
0, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
def mission_jump_tag(self, tag, target_system=1, target_component=1):
'''create a jump tag mission item'''
return self.mav.mav.mission_item_int_encode(
target_system,
target_component,
0, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL,
mavutil.mavlink.MAV_CMD_JUMP_TAG,
0, # current
0, # autocontinue
tag, # p1
0, # p2
0, # p3
0, # p4
0, # latitude
0, # longitude
0, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
def mission_anonymous_waypoint(self, target_system=1, target_component=1):
'''just a boring waypoint'''
return self.mav.mav.mission_item_int_encode(
target_system,
target_component,
0, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL,
mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
0, # current
0, # autocontinue
0, # p1
0, # p2
0, # p3
0, # p4
1, # latitude
1, # longitude
1, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
def renumber_mission_items(self, mission):
count = 0
for item in mission:
item.seq = count
count += 1
def MissionJumpTags_missing_jump_target(self, target_system=1, target_component=1):
self.start_subtest("Check missing-jump-tag behaviour")
jump_target = 2
mission = [
self.mission_home_point(),
self.mission_jump_tag(jump_target),
self.mission_anonymous_waypoint(),
]
self.renumber_mission_items(mission)
self.check_mission_upload_download(mission)
self.progress("Checking incorrect tag behaviour")
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_JUMP_TAG,
jump_target + 1, # p1
0, # p2
0, # p3
0, # p4
0, # p5
0, # p6
0, # p7
want_result=mavutil.mavlink.MAV_RESULT_FAILED
)
self.progress("Checking correct tag behaviour")
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_JUMP_TAG,
jump_target, # p1
0, # p2
0, # p3
0, # p4
0, # p5
0, # p6
0, # p7
)
def MissionJumpTags(self):
'''test MAV_CMD_JUMP_TAG'''
self.wait_ready_to_arm()
self.MissionJumpTags_missing_jump_target()
def AltResetBadGPS(self):
'''Tests the handling of poor GPS lock pre-arm alt resets'''
self.set_parameters({
@ -4297,6 +4399,7 @@ class AutoTestPlane(AutoTest):
self.WindEstimates,
self.AltResetBadGPS,
self.AirspeedCal,
self.MissionJumpTags,
])
return ret