def test_fence_breach_failsafe(self, checkGPS=True):
wait_seconds(self.DELAY)
self.mavproxy.send('fence load %sRegressionFence\n' % self.resource_path)
wait_seconds(self.DELAY)
self.mavproxy.send('fence enable\n')
wait_seconds(5)
assert testutils.check_mode(self, 'GUIDED')
if checkGPS:
assert testutils.check_GPS(self), "GPS Failsafe test failed."
def test_heartbeat_failsafe(self, checkGPS=True):
self.mavproxy.send('fence disable\n')
wait_seconds(self.DELAY)
self.mavproxy.send('set heartbeat 0\n')
wait_seconds(self.DELAY)
assert testutils.check_mode(self, 'RTL', 3, delay=21)
if checkGPS:
assert testutils.check_GPS(self), "GPS Failsafe test failed."
def test_heartbeat_failsafe(self, checkGPS=True):
self.mavproxy.send('fence disable\n')
wait_seconds(self.DELAY)
self.mavproxy.send('set heartbeat 0\n')
wait_seconds(self.DELAY)
assert testutils.check_mode(self, 'RTL', 3, delay=21)
if checkGPS:
assert testutils.check_GPS(self), "GPS Failsafe test failed."
def test_fence_breach_failsafe(self, checkGPS=True):
wait_seconds(self.DELAY)
self.mavproxy.send('fence load %sRegressionFence\n' % self.resource_path)
wait_seconds(self.DELAY)
self.mavproxy.send('fence enable\n')
wait_seconds(5)
assert testutils.check_mode(self, 'GUIDED')
if checkGPS:
assert testutils.check_GPS(self), "GPS Failsafe test failed."
def test_battery_current_failsafe(self, checkGPS=True):
self.oldCurrentValue = testutils.get_old_value(self, 'FS_BATT_MAH')
wait_seconds(self.DELAY)
self.mavproxy.send('param set FS_BATT_MAH 123456\n')
#Should trigger immediately
assert testutils.check_mode(self, 'RTL', delay=1)
if checkGPS:
assert testutils.check_GPS(self), "GPS Failsafe test failed."
def test_battery_current_failsafe(self, checkGPS=True):
self.oldCurrentValue = testutils.get_old_value(self, 'FS_BATT_MAH')
wait_seconds(self.DELAY)
self.mavproxy.send('param set FS_BATT_MAH 123456\n')
#Should trigger immediately
assert testutils.check_mode(self, 'RTL', delay=1)
if checkGPS:
assert testutils.check_GPS(self), "GPS Failsafe test failed."
def test_gps_failsafe(self, checkGPS=True):
assert testutils.check_GPS(self)
def test_gps_failsafe(self, checkGPS=True):
assert testutils.check_GPS(self)