Tools: autotest: add tests for aux-switch options for mission reset and clear

Tools/autotest/arducopter.py

@@ -3323,6 +3323,39 @@ class AutoTestCopter(AutoTest):
         if ex is not None:
             raise ex
 
+    def get_mission_count(self):
+        return self.get_parameter("MIS_TOTAL")
+
+    def assert_mission_count(self, expected):
+        count = self.get_mission_count()
+        if count != expected:
+            raise NotAchievedException("Unexpected count got=%u want=%u" %
+                                       (count, expected))
+
+    def test_aux_switch_options(self):
+        self.set_parameter("RC7_OPTION", 58) # clear waypoints
+        self.load_mission("copter_loiter_to_alt.txt")
+        self.set_rc(7, 1000)
+        self.assert_mission_count(5)
+        self.progress("Clear mission")
+        self.set_rc(7, 2000)
+        self.assert_mission_count(0)
+        self.set_rc(7, 1000)
+        self.set_parameter("RC7_OPTION", 24) # reset mission
+        self.delay_sim_time(2)
+        self.load_mission("copter_loiter_to_alt.txt")
+        set_wp = 4
+        self.mavproxy.send("wp set %u\n" % set_wp)
+        self.delay_sim_time(1)
+        self.drain_mav()
+        self.wait_current_waypoint(set_wp, timeout=10)
+        self.progress("Reset mission")
+        self.set_rc(7, 2000)
+        self.delay_sim_time(1)
+        self.drain_mav()
+        self.wait_current_waypoint(0, timeout=10)
+        self.set_rc(7, 1000)
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestCopter, self).tests()
@@ -3368,6 +3401,10 @@ class AutoTestCopter(AutoTest):
              "Set modes via auxswitch",
              self.test_setting_modes_via_auxswitch),
 
+            ("AuxSwitchOptions",
+             "Test random aux mode options",
+             self.test_aux_switch_options),
+
             ("AutoTune", "Fly AUTOTUNE mode", self.fly_autotune),
 
             ("ThrowMode", "Fly Throw Mode", self.fly_throw_mode),