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autotest: test setting modes via COMMAND_INT and DO_SET_MODE

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This commit is contained in:
Peter Barker 2023-10-12 21:37:09 +11:00 committed by Andrew Tridgell
parent 90d39a6ee0
commit aaca600a94
2 changed files with 14 additions and 3 deletions
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15
Tools/autotest/common.py
View File

@ -6081,10 +6081,13 @@ class AutoTest(ABC):
def run_cmd_do_set_mode(self,
mode,
timeout=30,
run_cmd=None,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
if run_cmd is None:
run_cmd = self.run_cmd
base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED
custom_mode = self.get_mode_from_mode_mapping(mode)
self.run_cmd(
run_cmd(
mavutil.mavlink.MAV_CMD_DO_SET_MODE,
p1=base_mode,
p2=custom_mode,
@ -6092,7 +6095,7 @@ class AutoTest(ABC):
timeout=timeout,
)
def do_set_mode_via_command_long(self, mode, timeout=30):
def do_set_mode_via_command_XYZZY(self, mode, run_cmd, timeout=30):
"""Set mode with a command long message."""
tstart = self.get_sim_time()
want_custom_mode = self.get_mode_from_mode_mapping(mode)
@ -6100,12 +6103,18 @@ class AutoTest(ABC):
remaining = timeout - (self.get_sim_time_cached() - tstart)
if remaining <= 0:
raise AutoTestTimeoutException("Failed to change mode")
self.run_cmd_do_set_mode(mode, timeout=10)
self.run_cmd_do_set_mode(mode, run_cmd=run_cmd, timeout=10)
m = self.wait_heartbeat()
self.progress("Got mode=%u want=%u" % (m.custom_mode, want_custom_mode))
if m.custom_mode == want_custom_mode:
return
def do_set_mode_via_command_long(self, mode, timeout=30):
self.do_set_mode_via_command_XYZZY(mode, self.run_cmd, timeout=timeout)
def do_set_mode_via_command_int(self, mode, timeout=30):
self.do_set_mode_via_command_XYZZY(mode, self.run_cmd_int, timeout=timeout)
def mavproxy_do_set_mode_via_command_long(self, mavproxy, mode, timeout=30):
"""Set mode with a command long message with Mavproxy."""
base_mode = mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED

2
Tools/autotest/rover.py
View File

@ -1256,6 +1256,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
'''Set mode via MAV_COMMAND_DO_SET_MODE'''
self.do_set_mode_via_command_long("HOLD")
self.do_set_mode_via_command_long("MANUAL")
self.do_set_mode_via_command_int("HOLD")
self.do_set_mode_via_command_int("MANUAL")
def RoverInitialMode(self):
'''test INITIAL_MODE parameter works'''