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autotest: add test for THR_FAILSAFE==2 and throttle output

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This commit is contained in:
Andrew Tridgell 2022-03-18 20:23:46 +11:00
parent de173707bc
commit ef9341f8a9
2 changed files with 27 additions and 2 deletions
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4
Tools/autotest/arduplane.py
View File

@ -905,7 +905,7 @@ class AutoTestPlane(AutoTest):
raise NotAchievedException("Bad absalt (want=%f vs got=%f)" % (original_alt+30, x.alt_msl)) raise NotAchievedException("Bad absalt (want=%f vs got=%f)" % (original_alt+30, x.alt_msl))
self.fly_home_land_and_disarm() self.fly_home_land_and_disarm()
def test_throttle_failsafe(self): def ThrottleFailsafe(self):
self.change_mode('MANUAL') self.change_mode('MANUAL')
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
receiver_bit = mavutil.mavlink.MAV_SYS_STATUS_SENSOR_RC_RECEIVER receiver_bit = mavutil.mavlink.MAV_SYS_STATUS_SENSOR_RC_RECEIVER
@ -3538,7 +3538,7 @@ function'''
("ThrottleFailsafe", ("ThrottleFailsafe",
"Fly throttle failsafe", "Fly throttle failsafe",
self.test_throttle_failsafe), self.ThrottleFailsafe),
("NeedEKFToArm", ("NeedEKFToArm",
"Ensure we need EKF to be healthy to arm", "Ensure we need EKF to be healthy to arm",

25
Tools/autotest/common.py
View File

@ -5838,6 +5838,21 @@ class AutoTest(ABC):
if comparator(m_value, value): if comparator(m_value, value):
return m_value return m_value
def assert_servo_channel_value(self, channel, value, comparator=operator.eq):
"""assert channel value (default condition is equality)"""
channel_field = "servo%u_raw" % channel
opstring = ("%s" % comparator)[-3:-1]
m = self.assert_receive_message('SERVO_OUTPUT_RAW', timeout=1)
m_value = getattr(m, channel_field, None)
if m_value is None:
raise ValueError("message (%s) has no field %s" %
(str(m), channel_field))
self.progress("assert SERVO_OUTPUT_RAW.%s=%u %s %u" %
(channel_field, m_value, opstring, value))
if comparator(m_value, value):
return m_value
raise NotAchievedException("Wrong value")
def get_rc_channel_value(self, channel, timeout=2): def get_rc_channel_value(self, channel, timeout=2):
"""wait for channel to hit value""" """wait for channel to hit value"""
channel_field = "chan%u_raw" % channel channel_field = "chan%u_raw" % channel
@ -5870,6 +5885,16 @@ class AutoTest(ABC):
if value == m_value: if value == m_value:
return return
def assert_rc_channel_value(self, channel, value):
channel_field = "chan%u_raw" % channel
m_value = self.get_rc_channel_value(channel, timeout=1)
self.progress("RC_CHANNELS.%s=%u want=%u" %
(channel_field, m_value, value))
if value != m_value:
raise NotAchievedException("Expected %s to be %u got %u" %
(channel, value, m_value))
def wait_location(self, def wait_location(self,
loc, loc,
accuracy=5.0, accuracy=5.0,