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Tools: autotest: add trivial test for old fence protocol

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Peter Barker 2019-03-29 14:21:01 +11:00 committed by Peter Barker
parent 12e62d0107
commit c726db2a82
1 changed files with 51 additions and 0 deletions
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51
Tools/autotest/apmrover2.py
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@ -1025,6 +1025,53 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.wait_location(loc, accuracy=accuracy)
self.disarm_vehicle()
def test_gcs_fence(self):
self.progress("Testing FENCE_POINT protocol")
self.set_parameter("FENCE_TOTAL", 1)
target_system = 1
target_component = 1
lat = 1.2345
lng = 5.4321
self.mav.mav.fence_point_send(target_system,
target_component,
0,
1,
lat,
lng)
self.progress("Requesting fence return point")
self.mav.mav.fence_fetch_point_send(target_system,
target_component,
0)
m = self.mav.recv_match(type="FENCE_POINT", blocking=True, timeout=1)
print("m: %s" % str(m))
if m is None:
raise NotAchievedException("Did not get fence return point back")
if abs(m.lat - lat) > 0.000001:
raise NotAchievedException("Did not get correct lat in fencepoint: got=%f want=%f" % (m.lat, lat))
if abs(m.lng - lng) > 0.000001:
raise NotAchievedException("Did not get correct lng in fencepoint: got=%f want=%f" % (m.lng, lng))
self.progress("Now testing a different value")
lat = 2.345
lng = 4.321
self.mav.mav.fence_point_send(target_system,
target_component,
0,
1,
lat,
lng)
self.progress("Requesting fence return point")
self.mav.mav.fence_fetch_point_send(target_system,
target_component,
0)
m = self.mav.recv_match(type="FENCE_POINT", blocking=True, timeout=1)
print("m: %s" % str(m))
if abs(m.lat - lat) > 0.000001:
raise NotAchievedException("Did not get correct lat in fencepoint: got=%f want=%f" % (m.lat, lat))
if abs(m.lng - lng) > 0.000001:
raise NotAchievedException("Did not get correct lng in fencepoint: got=%f want=%f" % (m.lng, lng))
def test_offboard(self, timeout=90):
self.load_mission("rover-guided-mission.txt")
self.wait_ready_to_arm(require_absolute=True)
@ -1184,6 +1231,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
"Test Offboard Control",
self.test_offboard),
("GCSFence",
"Upload and download of fence",
self.test_gcs_fence),
("DataFlashOverMAVLink",
"Test DataFlash over MAVLink",
self.test_dataflash_over_mavlink),