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Tools: autotest: add brake mode test

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Peter Barker 2019-03-23 15:30:34 +11:00 committed by Peter Barker
parent aca1651488
commit f19b831bc3
1 changed files with 21 additions and 0 deletions
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21
Tools/autotest/arducopter.py
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@ -2677,6 +2677,25 @@ class AutoTestCopter(AutoTest):
(tdelta, max_good_tdelta))
self.progress("Vehicle returned")
def fly_brake_mode(self):
# test brake mode
self.progress("Testing brake mode")
self.takeoff(10, mode="LOITER")
self.progress("Ensuring RC inputs have no effect in brake mode")
self.change_mode("STABILIZE")
self.set_rc(3, 1500)
self.set_rc(2, 1200)
self.wait_groundspeed(5, 1000)
self.change_mode("BRAKE")
self.wait_groundspeed(0, 1)
self.set_rc(2, 1500)
self.do_RTL()
self.progress("Ran brake mode")
def fly_precision_companion(self):
"""Use Companion PrecLand backend precision messages to loiter."""
@ -2839,6 +2858,8 @@ class AutoTestCopter(AutoTest):
("ThrowMode", "Fly Throw Mode", self.fly_throw_mode),
("BrakeMode", "Fly Brake Mode", self.fly_brake_mode),
("RecordThenPlayMission",
"Use switches to toggle in mission, then fly it",
self.fly_square),