From bfa15133c79f7894ef67d8d06aa602eac8b8fd04 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 21 Feb 2023 10:04:45 +0900
Subject: [PATCH] Tools: autotest fixes for rover

fixes camera mission, set-message-interval, request-message,
SendToComponents
---
 Tools/autotest/common.py | 4 ++++
 Tools/autotest/rover.py  | 6 +++++-
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 5908d28783..f5f8e52de0 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -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")
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 18afed01b1..bc15c185f2 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -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