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autotest: add tests for MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE

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Peter Barker 2023-08-24 11:50:34 +10:00 committed by Peter Barker
parent b8eb954f46
commit 7ed55bf0ff
1 changed files with 66 additions and 0 deletions
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66
Tools/autotest/arducopter.py
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@ -5435,6 +5435,71 @@ class AutoTestCopter(AutoTest):
self.context_pop() self.context_pop()
self.reboot_sitl() self.reboot_sitl()
def MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE(self):
'''test MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE mavlink command'''
# setup mount parameters
self.context_push()
self.setup_servo_mount()
self.reboot_sitl() # to handle MNT_TYPE changing
self.context_set_message_rate_hz('GIMBAL_MANAGER_STATUS', 10)
self.assert_received_message_field_values('GIMBAL_MANAGER_STATUS', {
"gimbal_device_id": 1,
"primary_control_sysid": 0,
"primary_control_compid": 0,
})
for method in self.run_cmd, self.run_cmd_int:
self.start_subtest("set_sysid-compid")
method(
mavutil.mavlink.MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE,
p1=37,
p2=38,
)
self.assert_received_message_field_values('GIMBAL_MANAGER_STATUS', {
"gimbal_device_id": 1,
"primary_control_sysid": 37,
"primary_control_compid": 38,
})
self.start_subtest("leave unchanged")
method(mavutil.mavlink.MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE, p1=-1)
self.assert_received_message_field_values('GIMBAL_MANAGER_STATUS', {
"gimbal_device_id": 1,
"primary_control_sysid": 37,
"primary_control_compid": 38,
})
# ardupilot currently handles this incorrectly:
# self.start_subtest("self-controlled")
# method(mavutil.mavlink.MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE, p1=-2)
# self.assert_received_message_field_values('GIMBAL_MANAGER_STATUS', {
# "gimbal_device_id": 1,
# "primary_control_sysid": 1,
# "primary_control_compid": 1,
# })
self.start_subtest("release control")
method(
mavutil.mavlink.MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE,
p1=self.mav.source_system,
p2=self.mav.source_component,
)
self.assert_received_message_field_values('GIMBAL_MANAGER_STATUS', {
"gimbal_device_id": 1,
"primary_control_sysid": self.mav.source_system,
"primary_control_compid": self.mav.source_component,
})
method(mavutil.mavlink.MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE, p1=-3)
self.assert_received_message_field_values('GIMBAL_MANAGER_STATUS', {
"gimbal_device_id": 1,
"primary_control_sysid": 0,
"primary_control_compid": 0,
})
self.context_pop()
self.reboot_sitl()
def MountYawVehicleForMountROI(self): def MountYawVehicleForMountROI(self):
'''Test Camera/Antenna Mount vehicle yawing for ROI''' '''Test Camera/Antenna Mount vehicle yawing for ROI'''
self.context_push() self.context_push()
@ -9845,6 +9910,7 @@ class AutoTestCopter(AutoTest):
self.Mount, self.Mount,
self.MountYawVehicleForMountROI, self.MountYawVehicleForMountROI,
self.MAV_CMD_DO_MOUNT_CONTROL, self.MAV_CMD_DO_MOUNT_CONTROL,
self.MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE,
self.Button, self.Button,
self.ShipTakeoff, self.ShipTakeoff,
self.RangeFinder, self.RangeFinder,