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Tools: autotest: add test for RCn_OPTION - toggling relays

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This commit is contained in:
Peter Barker 2018-08-03 20:16:10 +10:00
parent 10d7cc6bf4
commit f47823f4e4
1 changed files with 25 additions and 0 deletions
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25
Tools/autotest/arduplane.py
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@ -529,6 +529,24 @@ class AutoTestPlane(AutoTest):
if ex:
raise ex
def test_rc_relay(self):
'''test toggling channel 12 toggles relay'''
off = self.get_parameter("SIM_PIN_MASK")
if off:
raise PreconditionFailedException()
self.set_rc(12, 2000)
self.mav.wait_heartbeat()
self.mav.wait_heartbeat()
on = self.get_parameter("SIM_PIN_MASK")
if not on:
raise NotAchievedException()
self.set_rc(12, 1000)
self.mav.wait_heartbeat()
self.mav.wait_heartbeat()
off = self.get_parameter("SIM_PIN_MASK")
if off:
raise NotAchievedException()
def autotest(self):
"""Autotest ArduPlane in SITL."""
self.check_test_syntax(test_file=os.path.realpath(__file__))
@ -544,6 +562,13 @@ class AutoTestPlane(AutoTest):
self.set_rc_default()
self.set_rc(3, 1000)
self.set_rc(8, 1800)
self.set_parameter("RC12_OPTION", 28)
self.reboot_sitl() # needed for RC12_OPTION to take effect
self.run_test("Test Relay RC Channel Option",
self.test_rc_relay)
self.progress("Waiting for GPS fix")
self.mav.recv_match(condition='VFR_HUD.alt>10', blocking=True)
self.mav.wait_gps_fix()