Tools: autotest: add tests for Rover gripper support

Tools/autotest/apmrover2.py

@@ -348,6 +348,16 @@ class AutoTestRover(AutoTest):
         self.disarm_vehicle()
         self.progress("Mission OK")
 
+    def test_gripper_mission(self):
+        self.load_mission("rover-gripper-mission.txt")
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.mavproxy.expect("Gripper Grabbed")
+        self.mavproxy.expect("Gripper Released")
+        self.wait_mode("HOLD")
+        self.disarm_vehicle()
+
     def do_get_banner(self):
         self.mavproxy.send("long DO_SEND_BANNER 1\n")
         start = time.time()
@@ -969,6 +979,15 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
              "Test Camera Mission Items",
              self.test_camera_mission_items),
 
+            # Gripper test
+            ("Gripper",
+             "Test gripper",
+             self.test_gripper),
+
+            ("GripperMission",
+             "Test Gripper Mission Items",
+             self.test_gripper_mission),
+
             ("SET_MESSAGE_INTERVAL",
              "Test MAV_CMD_SET_MESSAGE_INTERVAL",
              self.test_set_message_interval),

Tools/autotest/rover-gripper-mission.txt

@@ -1,6 +1,6 @@
 QGC WPL 110
-0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	-0.110000	1
-1	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.362698	149.165146	0.000000	1
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	40.0713750	-105.229789	0	1
+1	0	3	16	0.000000	0.000000	0.000000	0.000000	40.0713350	-105.229779	0.000000	1
 2	0	0	211	0.000000	1.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
-3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363304	149.164978	0.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	40.0713550	-105.229769	0.000000	1
 4	0	0	211	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1