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Tools: autotest: add test for Copter PID parameter checks

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Peter Barker 2019-01-10 13:26:36 +11:00 committed by Randy Mackay
parent a2ebdf6f2e
commit b40f03dfbe
1 changed files with 31 additions and 0 deletions
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31
Tools/autotest/arducopter.py
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@ -2750,6 +2750,33 @@ class AutoTestCopter(AutoTest):
super(AutoTestCopter, self).test_arm_feature()
def test_parameter_checks(self):
self.wait_ready_to_arm()
self.context_push()
self.set_parameter("PSC_POSXY_P", -1)
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0,
timeout=2,
want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.context_pop()
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0,
timeout=2,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED)
self.disarm_vehicle()
def initial_mode(self):
return "STABILIZE"
@ -2905,6 +2932,10 @@ class AutoTestCopter(AutoTest):
"Test Parachute Functionality",
self.test_parachute),
("ParameterChecks",
"Test Arming Parameter Checks",
self.test_parameter_checks),
("LogDownLoad",
"Log download",
lambda: self.log_download(