autotest: add test for tailsitter throttle

Tools/autotest/common.py

@@ -4995,6 +4995,24 @@ class AutoTest(ABC):
             **kwargs
         )
 
+    def get_servo_channel_value(self, channel, timeout=2):
+        channel_field = "servo%u_raw" % channel
+        tstart = self.get_sim_time()
+        while True:
+            remaining = timeout - (self.get_sim_time_cached() - tstart)
+            if remaining <= 0:
+                raise NotAchievedException("Channel value condition not met")
+            m = self.mav.recv_match(type='SERVO_OUTPUT_RAW',
+                                    blocking=True,
+                                    timeout=remaining)
+            if m is None:
+                continue
+            m_value = getattr(m, channel_field, None)
+            if m_value is None:
+                raise ValueError("message (%s) has no field %s" %
+                                 (str(m), channel_field))
+            return m_value
+
     def wait_servo_channel_value(self, channel, value, timeout=2, comparator=operator.eq):
         """wait for channel value comparison (default condition is equality)"""
         channel_field = "servo%u_raw" % channel

Tools/autotest/quadplane.py

@@ -660,6 +660,27 @@ class AutoTestQuadPlane(AutoTest):
         self.change_mode("RTL")
         self.wait_disarmed(timeout=300)
 
+    def tailsitter(self):
+        '''tailsitter test'''
+        self.set_parameter('Q_FRAME_CLASS', 10)
+        self.set_parameter('Q_ENABLE', 1)
+
+        self.reboot_sitl()
+        self.wait_ready_to_arm()
+        value_before = self.get_servo_channel_value(3)
+        self.progress("Before: %u" % value_before)
+        self.change_mode('QHOVER')
+        tstart = self.get_sim_time()
+        while True:
+            now = self.get_sim_time_cached()
+            if now - tstart > 60:
+                break
+            value_after = self.get_servo_channel_value(3)
+            self.progress("After: t=%f output=%u" % ((now - tstart), value_after))
+            if value_before != value_after:
+                raise NotAchievedException("Changed throttle output on mode change to QHOVER")
+        self.disarm_vehicle()
+
     def tests(self):
         '''return list of all tests'''
 
@@ -691,6 +712,11 @@ class AutoTestQuadPlane(AutoTest):
             ("GyroFFT", "Fly Gyro FFT",
              self.fly_gyro_fft),
 
+            ("Tailsitter",
+             "Test tailsitter support",
+             self.tailsitter),
+
+
             ("LogUpload",
              "Log upload",
              self.log_upload),