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Tools: autotest fixes for rover

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fixes camera mission, set-message-interval, request-message,
SendToComponents
This commit is contained in:
Randy Mackay 2023-02-21 10:04:45 +09:00 committed by Andrew Tridgell
parent c33de6c872
commit bfa15133c7
2 changed files with 9 additions and 1 deletions
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4
Tools/autotest/common.py
View File

@ -9730,6 +9730,8 @@ Also, ignores heartbeats not from our target system'''
def SET_MESSAGE_INTERVAL(self):
'''Test MAV_CMD_SET_MESSAGE_INTERVAL'''
self.set_parameter("CAM1_TYPE", 1) # Camera with servo trigger
self.reboot_sitl() # needed for CAM1_TYPE to take effect
self.start_subtest('Basic tests')
self.test_set_message_interval_basic()
self.start_subtest('Many-message tests')
@ -9895,6 +9897,8 @@ Also, ignores heartbeats not from our target system'''
def REQUEST_MESSAGE(self, timeout=60):
'''Test MAV_CMD_REQUEST_MESSAGE'''
self.set_parameter("CAM1_TYPE", 1) # Camera with servo trigger
self.reboot_sitl() # needed for CAM1_TYPE to take effect
rate = round(self.get_message_rate("CAMERA_FEEDBACK", 10))
if rate != 0:
raise PreconditionFailedException("Receiving camera feedback")

6
Tools/autotest/rover.py
View File

@ -1151,6 +1151,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
def CameraMission(self):
'''Test Camera Mission Items'''
self.set_parameter("CAM1_TYPE", 1) # Camera with servo trigger
self.reboot_sitl() # needed for CAM1_TYPE to take effect
self.load_mission("rover-camera-mission.txt")
self.wait_ready_to_arm()
self.change_mode("AUTO")
@ -5535,6 +5537,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
def SendToComponents(self):
'''Test ArduPilot send_to_components function'''
self.set_parameter("CAM1_TYPE", 5) # Camera with MAVlink trigger
self.reboot_sitl() # needed for CAM1_TYPE to take effect
self.progress("Introducing ourselves to the autopilot as a component")
old_srcSystem = self.mav.mav.srcSystem
self.mav.mav.srcSystem = 1
@ -5552,7 +5556,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
1, # zoom_pos
0, # zoom_step
0, # focus_lock
1, # 1 shot or start filming
0, # 1 shot or start filming
17, # command id (de-dupe field)
0, # extra_param
0.0, # extra_value