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Tools: autotest: add trivial test for receiving COLLISION message

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Peter Barker 2019-07-09 23:39:32 +10:00 committed by Andrew Tridgell
parent 459680e7c8
commit b208b76884
1 changed files with 32 additions and 0 deletions
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32
Tools/autotest/arduplane.py
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@ -1311,6 +1311,34 @@ class AutoTestPlane(AutoTest):
self.wait_mode("CIRCLE")
self.set_rc(9, 1000)
def test_adsb(self):
self.wait_ready_to_arm()
here = self.mav.location()
# message ADSB_VEHICLE 37 -353632614 1491652305 0 584070 0 0 0 "bob" 3 1 255 17
self.set_parameter("ADSB_ENABLE", 1)
self.set_parameter("AVD_ENABLE", 1)
self.delay_sim_time(1) # TODO: work out why this is required...
self.mav.mav.adsb_vehicle_send(37, # ICAO address
here.lat * 1e7,
here.lng * 1e7,
mavutil.mavlink.ADSB_ALTITUDE_TYPE_PRESSURE_QNH,
here.alt*1000 + 10000, # 10m up
0, # heading in cdeg
0, # horizontal velocity cm/s
0, # vertical velocity cm/s
"bob", # callsign
mavutil.mavlink.ADSB_EMITTER_TYPE_LIGHT,
1, # time since last communication
65535, # flags
17 # squawk
)
self.progress("Waiting for collision message")
m = self.mav.recv_match(type='COLLISION', blocking=True, timeout=2)
if m is None:
raise NotAchievedException("Did not get collision message")
if m.threat_level != 2:
raise NotAchievedException("Expected some threat at least")
def tests(self):
'''return list of all tests'''
ret = super(AutoTestPlane, self).tests()
@ -1364,6 +1392,10 @@ class AutoTestPlane(AutoTest):
"Test Fence RTL Rally",
self.test_fence_rtl_rally),
("ADSB",
"Test ADSB",
self.test_adsb),
("LogDownLoad",
"Log download",
lambda: self.log_download(