Tools: autotest for Tradheli turbine start feature

Tools/autotest/helicopter.py

@@ -487,6 +487,73 @@ class AutoTestHelicopter(AutoTestCopter):
 
         self.reboot_sitl()
 
+    def TurbineStart(self, timeout=200):
+        """Check Turbine Start Feature"""
+        RAMP_TIME = 4
+        # set option for Turbine Start
+        self.set_parameter("RC6_OPTION", 161)
+        self.set_parameter("H_RSC_RAMP_TIME", RAMP_TIME)
+        self.set_parameter("H_RSC_SETPOINT", 66)
+        self.set_parameter("DISARM_DELAY", 0)
+        self.set_rc(3, 1000)
+        self.set_rc(8, 1000)
+
+        # check that turbine start doesn't activate while disarmed
+        self.progress("Checking Turbine Start doesn't activate while disarmed")
+        self.set_rc(6, 2000)
+        tstart = self.get_sim_time()
+        while self.get_sim_time() - tstart < 2:
+            servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
+            if servo.servo8_raw > 1050:
+                raise NotAchievedException("Turbine Start activated while disarmed")
+        self.set_rc(6, 1000)
+
+        # check that turbine start doesn't activate armed with interlock enabled
+        self.progress("Checking Turbine Start doesn't activate while armed with interlock enabled")
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.set_rc(8, 2000)
+        self.set_rc(6, 2000)
+        tstart = self.get_sim_time()
+        while self.get_sim_time() - tstart < 5:
+            servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
+            if servo.servo8_raw > 1660:
+                raise NotAchievedException("Turbine Start activated with interlock enabled")
+
+        self.set_rc(8, 1000)
+        self.set_rc(6, 1000)
+        self.disarm_vehicle()
+
+        # check that turbine start activates as designed (armed with interlock disabled)
+        self.progress("Checking Turbine Start activates as designed (armed with interlock disabled)")
+        self.delay_sim_time(2)
+        self.arm_vehicle()
+
+        self.set_rc(6, 2000)
+        tstart = self.get_sim_time()
+        while True:
+            if self.get_sim_time() - tstart > 5:
+                raise AutoTestTimeoutException("Turbine Start did not activate")
+            servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
+            if servo.servo8_raw > 1800:
+                break
+
+        self.wait_servo_channel_value(8, 1000, timeout=3)
+        self.set_rc(6, 1000)
+
+        # check that turbine start will not reactivate after interlock enabled
+        self.progress("Checking Turbine Start doesn't activate once interlock is enabled after start)")
+        self.set_rc(8, 2000)
+        self.set_rc(6, 2000)
+        tstart = self.get_sim_time()
+        while self.get_sim_time() - tstart < 5:
+            servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
+            if servo.servo8_raw > 1660:
+                raise NotAchievedException("Turbine Start activated with interlock enabled")
+        self.set_rc(6, 1000)
+        self.set_rc(8, 1000)
+        self.disarm_vehicle()
+
     def tests(self):
         '''return list of all tests'''
         ret = AutoTest.tests(self)
@@ -500,6 +567,7 @@ class AutoTestHelicopter(AutoTestCopter):
             self.ManAutoRotation,
             self.FlyEachFrame,
             self.AirspeedDrivers,
+            self.TurbineStart,
         ])
         return ret