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autotest: test new safety switch command

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Peter Barker 2024-02-22 17:19:27 +11:00 committed by Peter Barker
parent ae504ba564
commit 9aa6193568
1 changed files with 6 additions and 0 deletions
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6
Tools/autotest/arducopter.py
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@ -10281,6 +10281,12 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.change_mode('LAND')
self.wait_disarmed()
# test turning safty on/off using explicit MAVLink command:
self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_SAFETY_SWITCH_STATE, mavutil.mavlink.SAFETY_SWITCH_STATE_SAFE)
self.assert_prearm_failure("safety switch")
self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_SAFETY_SWITCH_STATE, mavutil.mavlink.SAFETY_SWITCH_STATE_DANGEROUS)
self.wait_ready_to_arm()
def GuidedYawRate(self):
'''ensuer guided yaw rate is not affected by rate of sewt-attitude messages'''
self.takeoff(30, mode='GUIDED')