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autotest: Test when invalid item is selected via DO_SET_MISSION_CURRENT

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Nick Exton 2023-10-09 11:08:03 +11:00 committed by Andrew Tridgell
parent e2e05af914
commit b96acbc97e
1 changed files with 26 additions and 0 deletions
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26
Tools/autotest/arducopter.py
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@ -3250,6 +3250,31 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.wait_disarmed()
self.delay_sim_time(20)
def MissionIndexValidity(self):
'''Confirm that attempting to select an invalid mission item is rejected.'''
self.upload_simple_relhome_mission([
(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 20),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 20, 0, 20),
(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
])
num_wp = self.get_mission_count()
accepted_indices = [0, 1, num_wp-1]
denied_indices = [-1, num_wp]
for seq in accepted_indices:
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_MISSION_CURRENT,
p1=seq,
timeout=1,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED)
for seq in denied_indices:
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_MISSION_CURRENT,
p1=seq,
timeout=1,
want_result=mavutil.mavlink.MAV_RESULT_DENIED)
def GPSViconSwitching(self):
"""Fly GPS and Vicon switching test"""
self.customise_SITL_commandline(["--uartF=sim:vicon:"])
@ -10569,6 +10594,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.ScriptMountPOI,
self.FlyMissionTwice,
self.FlyMissionTwiceWithReset,
self.MissionIndexValidity,
self.IMUConsistency,
self.AHRSTrimLand,
self.GuidedYawRate,