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autotest: add tests for Sub NAV_LAND and NAV_LOITER_UNLIM via mavlink

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This commit is contained in:
Peter Barker 2023-09-21 10:17:38 +10:00 committed by Andrew Tridgell
parent 30101c1e0f
commit fa6ec69bf1
1 changed files with 16 additions and 0 deletions
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16
Tools/autotest/ardusub.py
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@ -425,6 +425,20 @@ class AutoTestSub(AutoTest):
}) })
return ret return ret
def MAV_CMD_NAV_LOITER_UNLIM(self):
'''test handling of MAV_CMD_NAV_LOITER_UNLIM received via mavlink'''
for cmd in self.run_cmd, self.run_cmd_int:
self.change_mode('CIRCLE')
cmd(mavutil.mavlink.MAV_CMD_NAV_LOITER_UNLIM)
self.assert_mode('POSHOLD')
def MAV_CMD_NAV_LAND(self):
'''test handling of MAV_CMD_NAV_LAND received via mavlink'''
for cmd in self.run_cmd, self.run_cmd_int:
self.change_mode('CIRCLE')
cmd(mavutil.mavlink.MAV_CMD_NAV_LAND)
self.assert_mode('SURFACE')
def tests(self): def tests(self):
'''return list of all tests''' '''return list of all tests'''
ret = super(AutoTestSub, self).tests() ret = super(AutoTestSub, self).tests()
@ -440,6 +454,8 @@ class AutoTestSub(AutoTest):
self.MotorThrustHoverParameterIgnore, self.MotorThrustHoverParameterIgnore,
self.SET_POSITION_TARGET_GLOBAL_INT, self.SET_POSITION_TARGET_GLOBAL_INT,
self.TestLogDownloadMAVProxy, self.TestLogDownloadMAVProxy,
self.MAV_CMD_NAV_LOITER_UNLIM,
self.MAV_CMD_NAV_LAND,
]) ])
return ret return ret