From c352de2dd88d99aad91a6adc8bd930d6059c6538 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 19 Sep 2023 17:26:41 +1000 Subject: [PATCH] autotest: add test for Copter MISSION_START mavlink command --- Tools/autotest/arducopter.py | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 047e817db0990..af778bac081ec 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -10170,6 +10170,23 @@ def BrakeZ(self): self.wait_for_local_velocity(vx=0, vy=0, vz_up=0, timeout=10) self.land_and_disarm() + def MISSION_START(self): + '''test mavlink command MAV_CMD_MISSION_START''' + self.upload_simple_relhome_mission([ + (mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 200), + (mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0), + ]) + for command in self.run_cmd, self.run_cmd_int: + self.change_mode('LOITER') + self.set_current_waypoint(1) + self.wait_ready_to_arm() + self.arm_vehicle() + self.change_mode('AUTO') + command(mavutil.mavlink.MAV_CMD_MISSION_START) + self.wait_altitude(20, 1000, relative=True) + self.change_mode('RTL') + self.wait_disarmed() + def tests2b(self): # this block currently around 9.5mins here '''return list of all tests''' ret = ([ @@ -10206,6 +10223,7 @@ def tests2b(self): # this block currently around 9.5mins here self.GroundEffectCompensation_touchDownExpected, self.GroundEffectCompensation_takeOffExpected, self.DO_CHANGE_SPEED, + self.MISSION_START, self.AUTO_LAND_TO_BRAKE, self.WPNAV_SPEED, self.WPNAV_SPEED_UP,