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autotest: add test for mot_pwm validation

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Peter Barker 2020-01-30 12:14:39 +11:00 committed by Randy Mackay
parent 74e3ca75a7
commit 346471258b
1 changed files with 26 additions and 0 deletions
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26
Tools/autotest/arducopter.py
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@ -4280,6 +4280,28 @@ class AutoTestCopter(AutoTest):
self.customise_SITL_commandline(command_line_args)
self.fly_rangefinder_drivers_fly([x[0] for x in do_drivers])
def test_parameter_validation(self):
self.progress("invalid; min must be less than max:")
self.set_parameter("MOT_PWM_MIN", 100)
self.set_parameter("MOT_PWM_MAX", 50)
self.drain_mav()
self.assert_prearm_failure("Check MOT_PWM_MIN/MAX")
self.progress("invalid; min must be less than max (equal case):")
self.set_parameter("MOT_PWM_MIN", 100)
self.set_parameter("MOT_PWM_MAX", 100)
self.drain_mav()
self.assert_prearm_failure("Check MOT_PWM_MIN/MAX")
self.progress("invalid; both must be non-zero or both zero (min=0)")
self.set_parameter("MOT_PWM_MIN", 0)
self.set_parameter("MOT_PWM_MAX", 100)
self.drain_mav()
self.assert_prearm_failure("Check MOT_PWM_MIN/MAX")
self.progress("invalid; both must be non-zero or both zero (max=0)")
self.set_parameter("MOT_PWM_MIN", 100)
self.set_parameter("MOT_PWM_MAX", 0)
self.drain_mav()
self.assert_prearm_failure("Check MOT_PWM_MIN/MAX")
def tests(self):
'''return list of all tests'''
ret = super(AutoTestCopter, self).tests()
@ -4506,6 +4528,10 @@ class AutoTestCopter(AutoTest):
"Fly motor vibration test",
self.fly_motor_vibration),
("ParameterValidation",
"Test parameters are checked for validity",
self.test_parameter_validation),
("LogDownLoad",
"Log download",
lambda: self.log_download(