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autotest: add tests for new higher-channel override semantics

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Peter Barker 2020-12-25 18:04:47 +11:00 committed by Peter Barker
parent b53b30ea51
commit 12505c4c28
1 changed files with 67 additions and 0 deletions
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67
Tools/autotest/rover.py
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@ -908,6 +908,73 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
raise NotAchievedException("Value reverted after %f seconds when it should not have (got=%u) (want=%u)" % (delta, m_value, ch_override_value))
self.set_parameter("RC_OVERRIDE_TIME", old)
self.delay_sim_time(10)
self.start_subtest("Checking higher-channel semantics")
self.context_push()
self.set_parameter("RC_OVERRIDE_TIME", 30)
ch = 11
rc_value = 1010
self.set_rc(ch, rc_value)
channels = [65535] * 18
ch_override_value = 1234
channels[ch-1] = ch_override_value
self.progress("Sending override message ch%u=%u" % (ch, ch_override_value))
self.mav.mav.rc_channels_override_send(
1, # target system
1, # targe component
*channels
)
self.progress("Wait for override value")
self.wait_rc_channel_value(ch, ch_override_value, timeout=10)
self.progress("Sending return-to-RC-input value")
channels[ch-1] = 65534
self.mav.mav.rc_channels_override_send(
1, # target system
1, # targe component
*channels
)
self.wait_rc_channel_value(ch, rc_value, timeout=10)
channels[ch-1] = ch_override_value
self.progress("Sending override message ch%u=%u" % (ch, ch_override_value))
self.mav.mav.rc_channels_override_send(
1, # target system
1, # targe component
*channels
)
self.progress("Wait for override value")
self.wait_rc_channel_value(ch, ch_override_value, timeout=10)
# make we keep the override vaue for at least 10 seconds:
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 10:
break
# try both ignore values:
ignore_value = 0
if self.get_sim_time_cached() - tstart > 5:
ignore_value = 65535
self.progress("Sending ignore value %u" % ignore_value)
channels[ch-1] = ignore_value
self.mav.mav.rc_channels_override_send(
1, # target system
1, # targe component
*channels
)
if self.get_rc_channel_value(ch) != ch_override_value:
raise NotAchievedException("Did not maintain value")
self.context_pop()
self.end_subtest("Checking higher-channel semantics")
except Exception as e:
self.progress("Exception caught: %s" %
self.get_exception_stacktrace(e))