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autotest: add test for AntennaTracker scan mode

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Peter Barker 2019-12-03 22:00:01 +11:00 committed by Peter Barker
parent 270844745f
commit 78b1b54bb7
1 changed files with 17 additions and 0 deletions
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17
Tools/autotest/antennatracker.py
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@ -3,6 +3,7 @@
from __future__ import print_function from __future__ import print_function
import math import math
import operator
import os import os
from pymavlink import mavextra from pymavlink import mavextra
@ -125,6 +126,19 @@ class AutoTestTracker(AutoTest):
timeout=1) timeout=1)
self.wait_servo_channel_value(channel, value) self.wait_servo_channel_value(channel, value)
def SCAN(self):
self.change_mode(2) # "SCAN"
self.set_parameter("SCAN_SPEED_YAW", 20)
for channel in 1, 2:
self.wait_servo_channel_value(channel,
1900,
timeout=90,
comparator=operator.ge)
for channel in 1, 2:
self.wait_servo_channel_value(channel,
1200,
timeout=90,
comparator=operator.le)
def disabled_tests(self): def disabled_tests(self):
return { return {
@ -151,5 +165,8 @@ class AutoTestTracker(AutoTest):
"Test AHRS NMEA Output can be read by out NMEA GPS", "Test AHRS NMEA Output can be read by out NMEA GPS",
self.nmea_output), self.nmea_output),
("SCAN",
"Test SCAN mode",
self.SCAN),
]) ])
return ret return ret