autotest: add test for Rover's require-location-for-arming flag

ArduPilot · Feb 3, 2025 · 3ce8479 · 3ce8479
1 parent 068c742
commit 3ce8479
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Showing 3 changed files with 38 additions and 12 deletions.
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
@@ -12243,16 +12243,6 @@ def GripperReleaseOnThrustLoss(self):
         self.context_pop()
         self.reboot_sitl()
 
-    def assert_home_position_not_set(self):
-        try:
-            self.poll_home_position()
-        except NotAchievedException:
-            return
-
-        # if home.lng != 0: etc
-
-        raise NotAchievedException("Home is set when it shouldn't be")
-
     def REQUIRE_LOCATION_FOR_ARMING(self):
         '''check AP_Arming::Option::REQUIRE_LOCATION_FOR_ARMING works'''
         self.context_push()

diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
@@ -6947,6 +6947,31 @@ def SDPolyFence(self):
 
         self.delay_sim_time(1000)
 
+    def REQUIRE_POSITION_FOR_ARMING(self):
+        '''check DriveOption::REQUIRE_POSITION_FOR_ARMING works'''
+        self.context_push()
+        self.set_parameters({
+            "SIM_GPS1_NUMSATS": 3,  # EKF does not like < 6
+            "AHRS_GPS_USE": 0,  # stop DCM supplying home
+        })
+        self.reboot_sitl()
+        self.change_mode('MANUAL')
+        self.wait_prearm_sys_status_healthy()
+        self.assert_home_position_not_set()
+        self.arm_vehicle()
+        self.disarm_vehicle()
+
+        self.change_mode('GUIDED')
+        self.assert_prearm_failure("waiting for home", other_prearm_failures_fatal=False)
+
+        self.change_mode('MANUAL')
+        self.set_parameters({
+            "DRIVE_OPTIONS": 1,
+        })
+        self.assert_prearm_failure("waiting for home", other_prearm_failures_fatal=False)
+        self.context_pop()
+        self.reboot_sitl()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestRover, self).tests()
@@ -7045,6 +7070,7 @@ def tests(self):
             self.ClearMission,
             self.JammingSimulation,
             self.BatteryInvalid,
+            self.REQUIRE_POSITION_FOR_ARMING,
         ])
         return ret
 

diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
@@ -3625,6 +3625,16 @@ def assert_bytes_equal(self, bytes1, bytes2, maxlen=None):
             if bytes1[i] != bytes2[i]:
                 raise NotAchievedException("differ at offset %u" % i)
 
+    def assert_home_position_not_set(self):
+        try:
+            self.poll_home_position()
+        except NotAchievedException:
+            return
+
+        # if home.lng != 0: etc
+
+        raise NotAchievedException("Home is set when it shouldn't be")
+
     def HIGH_LATENCY2(self):
         '''test sending of HIGH_LATENCY2'''
 
@@ -8331,8 +8341,8 @@ def assert_prearm_failure(self,
             now = self.get_sim_time_cached()
             if now - tstart > timeout:
                 raise NotAchievedException(
-                    "Did not see failure-to-arm messages (statustext=%s command_ack=%s" %
-                    (seen_statustext, seen_command_ack))
+                    f"Did not see failure-to-arm messages ({seen_statustext=} {expected_statustext=} {seen_command_ack=})"
+                )
             if now - arm_last_send > 1:
                 arm_last_send = now
                 self.send_mavlink_run_prearms_command()