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Plane: accept MAV_CMD_DO_AUTOTUNE_ENABLE as both long and int #25047

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merged 2 commits into from Sep 26, 2023
Merged

Plane: accept MAV_CMD_DO_AUTOTUNE_ENABLE as both long and int #25047

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9a914cd
Plane: accept MAV_CMD_DO_AUTOTUNE_ENABLE as both long and int
peterbarker Sep 20, 2023
c90ed58
autotest: add test for enabling autotune via mavlink command
peterbarker Sep 20, 2023
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15 changes: 10 additions & 5 deletions ArduPlane/GCS_Mavlink.cpp
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Expand Up @@ -954,6 +954,9 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
{
switch(packet.command) {

case MAV_CMD_DO_AUTOTUNE_ENABLE:
return handle_MAV_CMD_DO_AUTOTUNE_ENABLE(packet);

case MAV_CMD_DO_REPOSITION:
return handle_command_int_do_reposition(packet);

Expand Down Expand Up @@ -1059,16 +1062,18 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
case MAV_CMD_DO_GO_AROUND:
return plane.trigger_land_abort(packet.param1) ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED;

case MAV_CMD_DO_AUTOTUNE_ENABLE:
// param1 : enable/disable
plane.autotune_enable(!is_zero(packet.param1));
return MAV_RESULT_ACCEPTED;

default:
return GCS_MAVLINK::handle_command_long_packet(packet, msg);
}
}

MAV_RESULT GCS_MAVLINK_Plane::handle_MAV_CMD_DO_AUTOTUNE_ENABLE(const mavlink_command_int_t &packet)
{
// param1 : enable/disable
plane.autotune_enable(!is_zero(packet.param1));
return MAV_RESULT_ACCEPTED;
}

#if PARACHUTE == ENABLED
MAV_RESULT GCS_MAVLINK_Plane::handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet)
{
Expand Down
1 change: 1 addition & 0 deletions ArduPlane/GCS_Mavlink.h
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Expand Up @@ -54,6 +54,7 @@ class GCS_MAVLINK_Plane : public GCS_MAVLINK
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_int_guided_slew_commands(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_DO_AUTOTUNE_ENABLE(const mavlink_command_int_t &packet);
MAV_RESULT handle_command_DO_CHANGE_SPEED(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_int_t &packet);
MAV_RESULT handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet);
Expand Down
9 changes: 9 additions & 0 deletions Tools/autotest/arduplane.py
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Expand Up @@ -4879,6 +4879,14 @@ def check_altitude(mav, m):

self.fly_home_land_and_disarm()

def MAV_CMD_DO_AUTOTUNE_ENABLE(self):
'''test enabling autotune via mavlink'''
self.context_collect('STATUSTEXT')
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_AUTOTUNE_ENABLE, p1=1)
self.wait_statustext('Started autotune', check_context=True)
self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_AUTOTUNE_ENABLE, p1=0)
self.wait_statustext('Stopped autotune', check_context=True)

def DO_PARACHUTE(self):
'''test triggering parachute via mavlink'''
self.set_parameters({
Expand Down Expand Up @@ -4995,6 +5003,7 @@ def tests(self):
self.MAV_CMD_GUIDED_CHANGE_ALTITUDE,
self.MAV_CMD_PREFLIGHT_CALIBRATION,
self.MAV_CMD_DO_INVERTED_FLIGHT,
self.MAV_CMD_DO_AUTOTUNE_ENABLE,
])
return ret

Expand Down