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autotest: add upload_rally_points_from_locations

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Peter Barker 2023-10-03 19:45:23 +11:00 committed by Peter Barker
parent 41518a4fc0
commit f72bfcc373
1 changed files with 25 additions and 0 deletions
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25
Tools/autotest/common.py
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@ -4716,6 +4716,8 @@ class AutoTest(ABC):
self.check_fence_items_same(items, downloaded_items, strict=strict) self.check_fence_items_same(items, downloaded_items, strict=strict)
elif mission_type == mavutil.mavlink.MAV_MISSION_TYPE_MISSION: elif mission_type == mavutil.mavlink.MAV_MISSION_TYPE_MISSION:
self.check_mission_waypoint_items_same(items, downloaded_items, strict=strict) self.check_mission_waypoint_items_same(items, downloaded_items, strict=strict)
elif mission_type == mavutil.mavlink.MAV_MISSION_TYPE_RALLY:
self.check_mission_waypoint_items_same(items, downloaded_items, strict=strict)
else: else:
raise NotAchievedException("Unhandled") raise NotAchievedException("Unhandled")
@ -4732,6 +4734,13 @@ class AutoTest(ABC):
mavutil.mavlink.MAV_MISSION_TYPE_MISSION, mavutil.mavlink.MAV_MISSION_TYPE_MISSION,
strict=strict) strict=strict)
def check_rally_upload_download(self, items):
self.check_mission_item_upload_download(
items,
"rally",
mavutil.mavlink.MAV_MISSION_TYPE_RALLY
)
def check_dflog_message_rates(self, log_filepath, message_rates): def check_dflog_message_rates(self, log_filepath, message_rates):
reader = self.dfreader_for_path(log_filepath) reader = self.dfreader_for_path(log_filepath)
@ -11121,6 +11130,22 @@ Also, ignores heartbeats not from our target system'''
self.check_fence_upload_download(items) self.check_fence_upload_download(items)
def rally_MISSION_ITEM_INT_from_loc(self, loc):
return self.create_MISSION_ITEM_INT(
mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
x=int(loc.lat*1e7),
y=int(loc.lng*1e7),
z=loc.alt,
frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
mission_type=mavutil.mavlink.MAV_MISSION_TYPE_RALLY
)
def upload_rally_points_from_locations(self, rally_point_locs):
'''takes a sequence of locations, sets vehicle rally points to those locations'''
items = [self.rally_MISSION_ITEM_INT_from_loc(x) for x in rally_point_locs]
self.correct_wp_seq_numbers(items)
self.check_rally_upload_download(items)
def wait_for_initial_mode(self): def wait_for_initial_mode(self):
'''wait until we get a heartbeat with an expected initial mode (the '''wait until we get a heartbeat with an expected initial mode (the
one specified in the vehicle constructor)''' one specified in the vehicle constructor)'''