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autotest: add test for fence surviving a bind-values receiver failure

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Peter Barker 2019-11-03 09:08:07 +11:00 committed by Andrew Tridgell
parent 4636a4c458
commit fc98b7d9e8
1 changed files with 43 additions and 0 deletions
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43
Tools/autotest/arduplane.py
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@ -930,6 +930,45 @@ class AutoTestPlane(AutoTest):
if ex is not None:
raise ex
def test_throttle_failsafe_fence(self):
fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
self.progress("Checking fence is not present before being configured")
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
if (m.onboard_control_sensors_enabled & fence_bit):
raise NotAchievedException("Fence enabled before being configured")
self.change_mode('MANUAL')
self.wait_ready_to_arm()
self.load_fence("CMAC-fence.txt")
self.set_parameter("FENCE_CHANNEL", 7)
self.set_parameter("FENCE_ACTION", 4)
self.set_rc(3, 1000)
self.set_rc(7, 2000)
self.progress("Checking fence is initially OK")
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
if (not (m.onboard_control_sensors_enabled & fence_bit)):
raise NotAchievedException("Fence not initially enabled")
self.set_parameter("THR_FS_VALUE", 960)
self.progress("Failing receiver (throttle-to-950)")
self.set_parameter("SIM_RC_FAIL", 2) # throttle-to-950
self.wait_mode("CIRCLE")
self.delay_sim_time(1) # give
self.drain_mav_unparsed()
self.progress("Checking fence is OK after receiver failure (bind-values)")
fence_bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
print("%s" % str(m))
if (not (m.onboard_control_sensors_enabled & fence_bit)):
raise NotAchievedException("Fence not enabled after RC fail")
def test_gripper_mission(self):
self.context_push()
ex = None
@ -1549,6 +1588,10 @@ class AutoTestPlane(AutoTest):
"Fly throttle failsafe",
self.test_throttle_failsafe),
("ThrottleFailsafeFence",
"Fly fence survives throttle failsafe",
self.test_throttle_failsafe_fence),
("TestFlaps", "Flaps", self.fly_flaps),
("DO_CHANGE_SPEED", "Test mavlink DO_CHANGE_SPEED command", self.fly_do_change_speed),