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Tools: autotest: clarify arming tests messages

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Peter Barker 2018-12-15 21:37:40 +11:00 committed by Andrew Tridgell
parent 36ad5d44bd
commit 7ad299c526
1 changed files with 22 additions and 16 deletions
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38
Tools/autotest/common.py
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@ -1523,22 +1523,25 @@ class AutoTest(ABC):
self.set_throttle_zero() self.set_throttle_zero()
self.start_test("Test normal arm and disarm features") self.start_test("Test normal arm and disarm features")
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.progress("default arm_vehicle() call")
if not self.arm_vehicle(): if not self.arm_vehicle():
raise NotAchievedException("Failed to ARM") raise NotAchievedException("Failed to ARM")
self.progress("default disarm_vehicle() call")
if not self.disarm_vehicle(): if not self.disarm_vehicle():
raise NotAchievedException("Failed to DISARM") raise NotAchievedException("Failed to DISARM")
self.progress("arm with mavproxy")
if not self.mavproxy_arm_vehicle(): if not self.mavproxy_arm_vehicle():
raise NotAchievedException("Failed to ARM") raise NotAchievedException("Failed to ARM")
self.progress("disarm with mavproxy")
if not self.mavproxy_disarm_vehicle(): if not self.mavproxy_disarm_vehicle():
raise NotAchievedException("Failed to DISARM") raise NotAchievedException("Failed to DISARM")
if self.mav.mav_type != mavutil.mavlink.MAV_TYPE_SUBMARINE: if self.mav.mav_type != mavutil.mavlink.MAV_TYPE_SUBMARINE:
self.progress("arm with rc input")
if not self.arm_motors_with_rc_input(): if not self.arm_motors_with_rc_input():
raise NotAchievedException("Failed to arm with RC input") raise NotAchievedException("Failed to arm with RC input")
self.progress("disarm with rc input")
if not self.disarm_motors_with_rc_input(): if not self.disarm_motors_with_rc_input():
raise NotAchievedException("Failed to disarm with RC input") raise NotAchievedException("Failed to disarm with RC input")
# self.arm_vehicle()
# if not self.autodisarm_motors():
# raise NotAchievedException("Did not autodisarm")
# Disable auto disarm for next test # Disable auto disarm for next test
# Rover and Sub don't have auto disarm # Rover and Sub don't have auto disarm
@ -1549,13 +1552,10 @@ class AutoTest(ABC):
mavutil.mavlink.MAV_TYPE_COAXIAL, mavutil.mavlink.MAV_TYPE_COAXIAL,
mavutil.mavlink.MAV_TYPE_TRICOPTER]: mavutil.mavlink.MAV_TYPE_TRICOPTER]:
self.set_parameter("DISARM_DELAY", 0) self.set_parameter("DISARM_DELAY", 0)
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_FIXED_WING: elif self.mav.mav_type == mavutil.mavlink.MAV_TYPE_FIXED_WING:
self.set_parameter("LAND_DISARMDELAY", 0) self.set_parameter("LAND_DISARMDELAY", 0)
# Sub has no 'switches' # Sub has no 'switches'
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_SUBMARINE: if self.mav.mav_type != mavutil.mavlink.MAV_TYPE_SUBMARINE:
if not self.disarm_vehicle():
raise NotAchievedException("Failed to isarm")
else:
self.start_test("Test arm and disarm with switch") self.start_test("Test arm and disarm with switch")
arming_switch = 7 arming_switch = 7
self.set_parameter("RC%d_OPTION" % arming_switch, 41) self.set_parameter("RC%d_OPTION" % arming_switch, 41)
@ -1577,15 +1577,16 @@ class AutoTest(ABC):
self.set_rc(3, 1800) self.set_rc(3, 1800)
try: try:
if self.arm_vehicle(): if self.arm_vehicle():
raise NotAchievedException("Failed to NOT ARM") raise NotAchievedException("Armed when throttle too high")
except AutoTestTimeoutException(): except AutoTestTimeoutException():
pass pass
except ValueError: except ValueError:
pass pass
if self.arm_motors_with_rc_input(): if self.arm_motors_with_rc_input():
raise NotAchievedException("Failed to NOT ARM") raise NotAchievedException(
"Armed via RC when throttle too high")
if self.arm_motors_with_switch(arming_switch): if self.arm_motors_with_switch(arming_switch):
raise NotAchievedException("Failed to NOT ARM") raise NotAchievedException("Armed via RC when switch too high")
self.set_throttle_zero() self.set_throttle_zero()
self.set_rc(arming_switch, 1000) self.set_rc(arming_switch, 1000)
@ -1594,18 +1595,21 @@ class AutoTest(ABC):
self.start_test("Test arming failure with ARMING_RUDDER=0") self.start_test("Test arming failure with ARMING_RUDDER=0")
self.set_parameter("ARMING_RUDDER", 0) self.set_parameter("ARMING_RUDDER", 0)
if self.arm_motors_with_rc_input(): if self.arm_motors_with_rc_input():
raise NotAchievedException("Failed to NOT ARM") raise NotAchievedException(
"Armed with rudder when ARMING_RUDDER=0")
self.start_test("Test disarming failure with ARMING_RUDDER=0") self.start_test("Test disarming failure with ARMING_RUDDER=0")
self.arm_vehicle() self.arm_vehicle()
if self.disarm_motors_with_rc_input(): if self.disarm_motors_with_rc_input():
raise NotAchievedException("Failed to NOT DISARM") raise NotAchievedException(
"Disarmed with rudder when ARMING_RUDDER=0")
self.disarm_vehicle() self.disarm_vehicle()
self.wait_heartbeat() self.wait_heartbeat()
self.start_test("Test disarming failure with ARMING_RUDDER=1") self.start_test("Test disarming failure with ARMING_RUDDER=1")
self.set_parameter("ARMING_RUDDER", 1) self.set_parameter("ARMING_RUDDER", 1)
self.arm_vehicle() self.arm_vehicle()
if self.disarm_motors_with_rc_input(): if self.disarm_motors_with_rc_input():
raise NotAchievedException("Failed to NOT ARM") raise NotAchievedException(
"Disarmed with rudder with ARMING_RUDDER=1")
self.disarm_vehicle() self.disarm_vehicle()
self.wait_heartbeat() self.wait_heartbeat()
self.set_parameter("ARMING_RUDDER", 2) self.set_parameter("ARMING_RUDDER", 2)
@ -1619,9 +1623,11 @@ class AutoTest(ABC):
self.start_test("Test arming failure with interlock enabled") self.start_test("Test arming failure with interlock enabled")
self.set_rc(interlock_channel, 2000) self.set_rc(interlock_channel, 2000)
if self.arm_motors_with_rc_input(): if self.arm_motors_with_rc_input():
raise NotAchievedException("Failed to NOT ARM") raise NotAchievedException(
"Armed with RC input when interlock enabled")
if self.arm_motors_with_switch(arming_switch): if self.arm_motors_with_switch(arming_switch):
raise NotAchievedException("Failed to NOT ARM") raise NotAchievedException(
"Armed with switch when interlock enabled")
self.disarm_vehicle() self.disarm_vehicle()
self.wait_heartbeat() self.wait_heartbeat()
self.set_rc(arming_switch, 1000) self.set_rc(arming_switch, 1000)