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Tools: test ARMING_RUDDER restrictions

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Co-authored-by: bnsgeyer <bnsgeyer@aol.com>
This commit is contained in:
Pierre Kancir 2018-09-19 18:43:59 +02:00
parent 31d4f1b065
commit 752f78c80e
1 changed files with 39 additions and 0 deletions
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39
Tools/autotest/common.py
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@ -1349,6 +1349,45 @@ class AutoTest(ABC):
raise NotAchievedException()
self.set_throttle_zero()
self.set_rc(arming_switch, 1000)
self.start_test("Test arming failure with ARMING_RUDDER=0")
self.set_parameter("ARMING_RUDDER", 0)
if self.arm_motors_with_rc_input():
self.progress("Failed to NOT ARM")
raise NotAchievedException()
self.start_test("Test disarming failure with ARMING_RUDDER=0")
self.arm_vehicle()
if self.disarm_motors_with_rc_input():
self.progress("Failed to NOT DISARM")
raise NotAchievedException()
self.disarm_vehicle()
self.mav.wait_heartbeat()
self.start_test("Test disarming failure with ARMING_RUDDER=1")
self.set_parameter("ARMING_RUDDER", 1)
self.arm_vehicle()
if self.disarm_motors_with_rc_input():
self.progress("Failed to NOT ARM")
raise NotAchievedException()
self.disarm_vehicle()
self.mav.wait_heartbeat()
self.set_parameter("ARMING_RUDDER", 2)
if self.mav.mav_type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
mavutil.mavlink.MAV_TYPE_HELICOPTER,
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
mavutil.mavlink.MAV_TYPE_COAXIAL,
mavutil.mavlink.MAV_TYPE_TRICOPTER]:
self.start_test("Test arming failure with interlock enabled")
self.set_rc(interlock_channel, 2000)
if self.arm_motors_with_rc_input():
self.progress("Failed to NOT ARM")
raise NotAchievedException()
if self.arm_motors_with_switch(arming_switch):
self.progress("Failed to NOT ARM")
raise NotAchievedException()
self.disarm_vehicle()
self.mav.wait_heartbeat()
self.set_rc(arming_switch, 1000)
self.set_rc(interlock_channel, 1000)
self.context_pop()
# TODO : add failure test : arming check, wrong mode; Test arming magic; Same for disarm