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autotest: tidy Rover DriveMaxRCIN test

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take advantage of created infrastructure
This commit is contained in:
Peter Barker 2023-08-23 10:21:56 +10:00 committed by Peter Barker
parent 1839db7c1f
commit a44820cfde
1 changed files with 10 additions and 27 deletions
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37
Tools/autotest/rover.py
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@ -342,38 +342,21 @@ class AutoTestRover(AutoTest):
def DriveMaxRCIN(self, timeout=30):
"""Drive rover at max RC inputs"""
self.context_push()
ex = None
self.progress("Testing max RC inputs")
self.change_mode("MANUAL")
try:
self.progress("Testing max RC inputs")
self.change_mode("MANUAL")
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(3, 2000)
self.set_rc(1, 1000)
self.set_rc(3, 2000)
self.set_rc(1, 1000)
tstart = self.get_sim_time()
while self.get_sim_time_cached() - tstart < timeout:
m = self.mav.recv_match(type='VFR_HUD', blocking=True, timeout=1)
if m is not None:
self.progress("Current speed: %f" % m.groundspeed)
# reduce throttle
self.set_rc(3, 1500)
self.set_rc(1, 1500)
except Exception as e:
self.print_exception_caught(e)
ex = e
tstart = self.get_sim_time()
while self.get_sim_time_cached() - tstart < timeout:
m = self.assert_receive_message('VFR_HUD')
self.progress("Current speed: %f" % m.groundspeed)
self.disarm_vehicle()
self.context_pop()
if ex:
raise ex
#################################################
# AUTOTEST ALL