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autotest: verify new safety switch state in set_safetyswitch

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Peter Barker 2023-04-16 22:55:52 +10:00 committed by Peter Barker
parent 7bde074791
commit f518c4f4d4
1 changed files with 10 additions and 4 deletions
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14
Tools/autotest/common.py
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@ -4981,17 +4981,23 @@ class AutoTest(ABC):
else:
return None
def set_safetyswitch_on(self):
self.set_safetyswitch(1)
def set_safetyswitch_on(self, **kwargs):
self.set_safetyswitch(1, **kwargs)
def set_safetyswitch_off(self):
self.set_safetyswitch(0)
def set_safetyswitch_off(self, **kwargs):
self.set_safetyswitch(0, **kwargs)
def set_safetyswitch(self, value, target_system=1, target_component=1):
self.mav.mav.set_mode_send(
target_system,
mavutil.mavlink.MAV_MODE_FLAG_DECODE_POSITION_SAFETY,
value)
self.wait_sensor_state(
mavutil.mavlink.MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS,
True, not value, True,
verbose=True,
timeout=30
)
def armed(self):
"""Return true if vehicle is armed and safetyoff"""