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autotest: more tests for jump tags

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Peter Barker 2023-02-15 14:21:36 +11:00 committed by Tom Pittenger
parent edb301a4d0
commit 20279417e8
1 changed files with 60 additions and 0 deletions
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60
Tools/autotest/arduplane.py
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@ -4183,6 +4183,25 @@ class AutoTestPlane(AutoTest):
0, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
def mission_do_jump_tag(self, tag, target_system=1, target_component=1):
'''create a jump tag mission item'''
return self.mav.mav.mission_item_int_encode(
target_system,
target_component,
0, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL,
mavutil.mavlink.MAV_CMD_DO_JUMP_TAG,
0, # current
0, # autocontinue
tag, # p1
0, # p2
0, # p3
0, # p4
0, # latitude
0, # longitude
0, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
def mission_anonymous_waypoint(self, target_system=1, target_component=1):
'''just a boring waypoint'''
return self.mav.mav.mission_item_int_encode(
@ -4242,10 +4261,51 @@ class AutoTestPlane(AutoTest):
0, # p7
)
def MissionJumpTags_do_jump_to_bad_tag(self, target_system=1, target_component=1):
mission = [
self.mission_home_point(),
self.mission_anonymous_waypoint(),
self.mission_do_jump_tag(17),
self.mission_anonymous_waypoint(),
]
self.renumber_mission_items(mission)
self.check_mission_upload_download(mission)
self.change_mode('AUTO')
self.arm_vehicle()
self.set_current_waypoint(2, check_afterwards=False)
self.assert_mode('RTL')
self.disarm_vehicle()
def MissionJumpTags_jump_tag_at_end_of_mission(self, target_system=1, target_component=1):
mission = [
self.mission_home_point(),
self.mission_anonymous_waypoint(),
self.mission_jump_tag(17),
]
self.renumber_mission_items(mission)
self.check_mission_upload_download(mission)
self.progress("Checking correct tag behaviour")
self.change_mode('AUTO')
self.arm_vehicle()
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_JUMP_TAG,
17, # p1
0, # p2
0, # p3
0, # p4
0, # p5
0, # p6
0, # p7
)
self.assert_mode('RTL')
self.disarm_vehicle()
def MissionJumpTags(self):
'''test MAV_CMD_JUMP_TAG'''
self.wait_ready_to_arm()
self.MissionJumpTags_missing_jump_target()
self.MissionJumpTags_do_jump_to_bad_tag()
self.MissionJumpTags_jump_tag_at_end_of_mission()
def AltResetBadGPS(self):
'''Tests the handling of poor GPS lock pre-arm alt resets'''