From 4c89fa4b7551adf7c7f24592e45ba1697f1cf537 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 16 Aug 2018 13:07:15 +1000 Subject: [PATCH] Tools: autotest: add tests for changing modes via MAVProxy mode command --- Tools/autotest/apmrover2.py | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/Tools/autotest/apmrover2.py b/Tools/autotest/apmrover2.py index ba2470fe7e..090575a491 100644 --- a/Tools/autotest/apmrover2.py +++ b/Tools/autotest/apmrover2.py @@ -413,6 +413,21 @@ class AutoTestRover(AutoTest): self.mavproxy.send('switch %u\n' % num) self.wait_mode(expected) + def test_setting_modes_via_mavproxy_mode_command(self): + fnoo = [(1, 'ACRO'), + (3, 'STEERING'), + (4, 'HOLD'), + ] + for (num, expected) in fnoo: + self.mavproxy.send('mode manual\n') + self.wait_mode("MANUAL") + self.mavproxy.send('mode %u\n' % num) + self.wait_mode(expected) + self.mavproxy.send('mode manual\n') + self.wait_mode("MANUAL") + self.mavproxy.send('mode %s\n' % expected) + self.wait_mode(expected) + def test_setting_modes_via_modeswitch(self): # test setting of modes through mode switch self.context_push(); @@ -558,6 +573,9 @@ class AutoTestRover(AutoTest): self.run_test("Set modes via mavproxy switch", self.test_setting_modes_via_mavproxy_switch) + self.run_test("Set modes via mavproxy mode command", + self.test_setting_modes_via_mavproxy_mode_command) + self.run_test("Set modes via modeswitch", self.test_setting_modes_via_modeswitch)