aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

autotest: add option to ingore RTL mode change during in auto mode

Browse Source 
Plane emits a heartbeat with RTL in it when doing a DO_LAND_START
This commit is contained in:
Peter Barker 2024-06-21 11:54:26 +10:00 committed by Peter Barker
parent 1dae1fe7df
commit 3a23cf7144
1 changed files with 15 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
Tools/autotest/vehicle_test_suite.py
View File

@ -7783,7 +7783,8 @@ class TestSuite(ABC):
wpnum_end,
allow_skip=True,
max_dist=2,
timeout=400):
timeout=400,
ignore_RTL_mode_change=False):
"""Wait for waypoint ranges."""
tstart = self.get_sim_time()
# this message arrives after we set the current WP
@ -7806,8 +7807,11 @@ class TestSuite(ABC):
m = self.assert_receive_message('VFR_HUD')
# if we changed mode, fail
if self.mav.flightmode != mode:
raise WaitWaypointTimeout('Exited %s mode' % mode)
if not self.mode_is('AUTO'):
self.progress(f"{self.mav.flightmode} vs {self.get_mode_from_mode_mapping(mode)}")
if not ignore_RTL_mode_change or not self.mode_is('RTL', cached=True):
new_mode_str = self.get_mode_string_for_mode(self.get_mode())
raise WaitWaypointTimeout(f'Exited {mode} mode to {new_mode_str} ignore={ignore_RTL_mode_change}')
if self.get_sim_time_cached() - last_wp_msg > 1:
self.progress("WP %u (wp_dist=%u Alt=%.02f), current_wp: %u,"
@ -7838,9 +7842,9 @@ class TestSuite(ABC):
'''returns the most-recently received instance of message_type'''
return self.mav.messages[message_type]
def mode_is(self, mode, cached=False, drain_mav=True):
def mode_is(self, mode, cached=False, drain_mav=True, drain_mav_quietly=True):
if not cached:
self.wait_heartbeat(drain_mav=drain_mav)
self.wait_heartbeat(drain_mav=drain_mav, quiet=drain_mav_quietly)
try:
return self.get_mode_from_mode_mapping(self.mav.flightmode) == self.get_mode_from_mode_mapping(mode)
except Exception:
@ -7865,6 +7869,12 @@ class TestSuite(ABC):
if not self.mode_is(mode):
raise NotAchievedException("Expected mode %s" % str(mode))
def get_mode(self, cached=False, drain_mav=True):
'''return numeric custom mode'''
if not cached:
self.wait_heartbeat(drain_mav=drain_mav)
return self.mav.messages['HEARTBEAT'].custom_mode
def wait_gps_sys_status_not_present_or_enabled_and_healthy(self, timeout=30):
self.progress("Waiting for GPS health")
tstart = self.get_sim_time()