Mirrors_Framework/ardupilot
1
0 Fork 0
mirror of https://github.com/ArduPilot/ardupilot.git synced 2026-10-28 04:38:55 +08:00
Code Issues Packages Projects Releases Wiki Activity

Tools: tweak MAV parameter names

Browse Source
This commit is contained in:
Peter Barker authored and Peter Barker committed 2025-04-07 10:58:41 +10:00
1 parent bd93bd788e
commit eb50096161
5 files changed
+22 -23
Download Patch File Download Diff File Expand all files Collapse all files

No files matched your search

Tools/autotest/arducopter.py
+5 -5
View File
@@ -633,7 +633,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
# Trigger an RC failure in guided mode with the option enabled
# to continue in guided. Verify no failsafe action takes place
self.start_subtest("Radio failsafe with option to continue in guided mode: FS_THR_ENABLE=1 & FS_OPTIONS=4")
self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system)
self.set_parameter("MAV_GCS_SYSID", self.mav.source_system)
self.setGCSfailsafe(1)
self.set_parameter('FS_THR_ENABLE', 1)
self.set_parameter('FS_OPTIONS', 4)
@@ -744,7 +744,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
def test_gcs_failsafe(self, side=60, timeout=360):
# Test double-SmartRTL; ensure we do SmarRTL twice rather than
# landing (tests fix for actual bug)
self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system)
self.set_parameter("MAV_GCS_SYSID", self.mav.source_system)
self.context_push()
self.start_subtest("GCS failsafe SmartRTL twice")
self.setGCSfailsafe(3)
@@ -5972,7 +5972,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
'''Test Camera/Antenna Mount vehicle yawing for ROI'''
self.context_push()
self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system)
self.set_parameter("MAV_GCS_SYSID", self.mav.source_system)
yaw_servo = 7
self.setup_servo_mount(yaw_servo=yaw_servo)
self.reboot_sitl() # to handle MNT1_TYPE changing
@@ -7450,7 +7450,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
def MANUAL_CONTROL(self):
'''test MANUAL_CONTROL mavlink message'''
self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system)
self.set_parameter("MAV_GCS_SYSID", self.mav.source_system)
self.change_mode('STABILIZE')
self.takeoff(10)
@@ -11591,7 +11591,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
def _MAV_CMD_DO_FLIGHTTERMINATION(self, command):
self.set_parameters({
"MAV_MYGCS_SYSID": self.mav.source_system,
"MAV_GCS_SYSID": self.mav.source_system,
"DISARM_DELAY": 0,
})
self.wait_ready_to_arm()
Tools/autotest/arduplane.py
+3 -3
View File
@@ -1336,7 +1336,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
"FS_GCS_ENABL": 1,
"FS_LONG_ACTN": 1,
"RTL_AUTOLAND": 1,
"MAV_MYGCS_SYSID": self.mav.source_system,
"MAV_GCS_SYSID": self.mav.source_system,
})
self.takeoff()
self.change_mode('LOITER')
@@ -5645,7 +5645,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
def MANUAL_CONTROL(self):
'''test MANUAL_CONTROL mavlink message'''
self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system)
self.set_parameter("MAV_GCS_SYSID", self.mav.source_system)
self.progress("Takeoff")
self.takeoff(alt=50)
@@ -6269,7 +6269,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
def _MAV_CMD_DO_FLIGHTTERMINATION(self, command):
self.set_parameters({
"AFS_ENABLE": 1,
"MAV_MYGCS_SYSID": self.mav.source_system,
"MAV_GCS_SYSID": self.mav.source_system,
"AFS_TERM_ACTION": 42,
})
self.wait_ready_to_arm()
Tools/autotest/default_params/vee-gull_005.param
+1 -2
View File
@@ -738,8 +738,7 @@ STEER2SRV_P,1.8
STEER2SRV_TCONST,0.75
STICK_MIXING,1
SYS_NUM_RESETS,1
MAV_MYGCS_ENFRCE,0
MAV_MYGCS_SYSID,255
MAV_GCS_SYSID,255
SYSID_SW_TYPE,0
MAV_SYSID,1
TECS_APPR_SMAX,0
Tools/autotest/rover.py
+11 -11
View File
@@ -770,7 +770,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
def RCOverridesCancel(self):
'''Test RC overrides Cancel'''
self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system)
self.set_parameter("MAV_GCS_SYSID", self.mav.source_system)
self.change_mode('MANUAL')
self.wait_ready_to_arm()
self.zero_throttle()
@@ -841,7 +841,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
def RCOverrides(self):
'''Test RC overrides'''
self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system)
self.set_parameter("MAV_GCS_SYSID", self.mav.source_system)
self.set_parameter("RC12_OPTION", 46)
self.reboot_sitl()
@@ -1074,7 +1074,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
def MANUAL_CONTROL(self):
'''Test mavlink MANUAL_CONTROL'''
self.set_parameters({
"MAV_MYGCS_SYSID": self.mav.source_system,
"MAV_GCS_SYSID": self.mav.source_system,
"RC12_OPTION": 46, # enable/disable rc overrides
})
self.reboot_sitl()
@@ -1231,8 +1231,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.mavproxy_do_set_mode_via_command_long(mavproxy, "MANUAL")
self.stop_mavproxy(mavproxy)
def MAV_MYGCS_ENFRCE(self):
'''Test enforcement of MAV_MYGCS_SYSID'''
def MAV_GCS_ENFORCE(self):
'''Test enforcement of strict mode for MAV_GCS_SYSID'''
'''Run the same arming code with correct then incorrect SYSID'''
if self.mav.source_system != self.mav.mav.srcSystem:
@@ -1242,8 +1242,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
old_srcSystem = self.mav.mav.srcSystem
ex = None
try:
self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system)
self.set_parameter("MAV_MYGCS_ENFRCE", 1, add_to_context=False)
self.set_parameter("MAV_GCS_SYSID", self.mav.source_system)
self.set_parameter("MAV_OPTIONS", 1, add_to_context=False)
self.change_mode('MANUAL')
@@ -1267,7 +1267,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
success = True
self.mav.mav.srcSystem = old_srcSystem
if not success:
raise NotAchievedException("Managed to arm with MAV_MYGCS_ENFRCE set")
raise NotAchievedException("Managed to arm with MAV_GCS enforce set")
# should be able to arm from the vehicle's own components:
self.progress("Attempting to arm vehicle from vehicle component")
@@ -1286,7 +1286,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.print_exception_caught(e)
ex = e
self.mav.mav.srcSystem = old_srcSystem
self.set_parameter("MAV_MYGCS_ENFRCE", 0, add_to_context=False)
self.set_parameter("MAV_OPTIONS", 0, add_to_context=False)
self.context_pop()
if ex is not None:
raise ex
@@ -1768,7 +1768,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
raise ex
def test_gcs_failsafe(self, side=60, timeout=360):
self.set_parameter("MAV_MYGCS_SYSID", self.mav.source_system)
self.set_parameter("MAV_GCS_SYSID", self.mav.source_system)
self.set_parameter("FS_ACTION", 1)
self.set_parameter("FS_THR_ENABLE", 0) # disable radio FS as it inhibt GCS one's
@@ -6914,7 +6914,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.SET_MESSAGE_INTERVAL,
self.MESSAGE_INTERVAL_COMMAND_INT,
self.REQUEST_MESSAGE,
self.MAV_MYGCS_ENFRCE,
self.MAV_GCS_ENFORCE,
self.SET_ATTITUDE_TARGET,
self.SET_ATTITUDE_TARGET_heading,
self.SET_POSITION_TARGET_LOCAL_NED,
Tools/autotest/vehicle_test_suite.py
+2 -2
View File
@@ -12529,7 +12529,7 @@ switch value'''
self.assert_no_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION)
self.set_parameters({
"AFS_ENABLE": 1,
"MAV_MYGCS_SYSID": self.mav.source_system,
"MAV_GCS_SYSID": self.mav.source_system,
})
self.drain_mav()
self.assert_capability(mavutil.mavlink.MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION)
@@ -12603,7 +12603,7 @@ switch value'''
'''ensure GPS can be used as a fallback in case of baro dying'''
self.set_parameters({
"AFS_ENABLE": 1,
"MAV_MYGCS_SYSID": self.mav.source_system,
"MAV_GCS_SYSID": self.mav.source_system,
"AFS_AMSL_LIMIT": 1000,
"AFS_QNH_PRESSURE": 1000,
"AFS_AMSL_ERR_GPS": 10,