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autotest: add test for gimbal range issue

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Peter Barker 2020-01-30 13:52:23 +11:00 committed by Peter Barker
parent a9e288a335
commit 0ea4e150db
1 changed files with 18 additions and 0 deletions
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18
Tools/autotest/arducopter.py
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@ -3382,6 +3382,24 @@ class AutoTestCopter(AutoTest):
self.set_rc(12, 1500)
self.set_rc(13, 1500)
try:
self.progress("Issue https://discuss.ardupilot.org/t/gimbal-limits-with-storm32-backend-mavlink-not-applied-correctly/51438")
self.context_push()
self.set_parameter("RC12_MIN", 1000)
self.set_parameter("RC12_MAX", 2000)
self.set_parameter("MNT_ANGMIN_TIL", -9000)
self.set_parameter("MNT_ANGMAX_TIL", 1000)
self.set_rc(12, 1000)
self.test_mount_pitch(-90.00, 0.01)
self.set_rc(12, 2000)
self.test_mount_pitch(10.00, 0.01)
self.set_rc(12, 1500)
self.test_mount_pitch(-40.00, 0.01)
finally:
self.context_pop()
self.set_rc(12, 1500)
self.progress("Testing RC rate control")
self.set_parameter('MNT_JSTICK_SPD', 10)
self.test_mount_pitch(0, 1)