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Tools: autotest: add tests for Plane AuxSwitch mode changes

This commit is contained in:
Peter Barker 2019-04-05 16:15:33 +11:00 committed by Andrew Tridgell
parent 584404a6da
commit fec3dc4f70
1 changed files with 36 additions and 0 deletions
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36
Tools/autotest/arduplane.py
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@ -1255,11 +1255,47 @@ class AutoTestPlane(AutoTest):
self.change_mode("FBWA") # we don't update PIDs in MANUAL
super(AutoTestPlane, self).test_pid_tuning()
def test_setting_modes_via_auxswitches(self):
self.set_parameter("FLTMODE5", 1)
self.mavproxy.send('switch 1\n') # random mode
self.wait_heartbeat()
self.change_mode('MANUAL')
self.mavproxy.send('switch 5\n') # acro mode
self.wait_mode("CIRCLE")
self.set_rc(9, 1000)
self.set_rc(10, 1000)
self.set_parameter("RC9_OPTION", 4) # RTL
self.set_parameter("RC10_OPTION", 55) # guided
self.set_rc(9, 1900)
self.wait_mode("RTL")
self.set_rc(10, 1900)
self.wait_mode("GUIDED")
self.progress("resetting both switches - should go back to CIRCLE")
self.set_rc(9, 1000)
self.set_rc(10, 1000)
self.wait_mode("CIRCLE")
self.set_rc(9, 1900)
self.wait_mode("RTL")
self.set_rc(10, 1900)
self.wait_mode("GUIDED")
self.progress("Resetting switch should repoll mode switch")
self.set_rc(10, 1000) # this re-polls the mode switch
self.wait_mode("CIRCLE")
self.set_rc(9, 1000)
def tests(self):
'''return list of all tests'''
ret = super(AutoTestPlane, self).tests()
ret.extend([
("AuxModeSwitch",
"Set modes via auxswitches",
self.test_setting_modes_via_auxswitches),
("TestRCCamera",
"Test RC Option - Camera Trigger",
self.test_rc_option_camera_trigger),