Tools: autotest: add parachute tests

Tools: autotest: add test for triggering parachute via mavlink

Tools: autotest: add Copter mission test for parachute release

Tools: autotest: add Plane test for parachute deployment in auto

Tools/autotest/arducopter.py

@@ -1640,6 +1640,29 @@ class AutoTestCopter(AutoTest):
         self.set_parameter("SIM_PARA_ENABLE", 1)
         self.set_parameter("SIM_PARA_PIN", 9)
 
+        self.progress("Test triggering parachute in mission")
+        self.load_mission("copter_parachute_mission.txt")
+        self.change_mode('LOITER')
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.change_mode('AUTO')
+        self.set_rc(3, 1600)
+        self.mavproxy.expect('BANG')
+        self.reboot_sitl()
+
+        self.progress("Test triggering with mavlink message")
+        self.takeoff(20)
+        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_PARACHUTE,
+                     2, # release
+                     0,
+                     0,
+                     0,
+                     0,
+                     0,
+                     0)
+        self.mavproxy.expect('BANG')
+        self.reboot_sitl()
+
         self.progress("Testing three-position switch")
         self.set_parameter("RC9_OPTION", 23) # parachute 3pos
 

Tools/autotest/arduplane.py

@@ -700,6 +700,22 @@ class AutoTestPlane(AutoTest):
         if ex is not None:
             raise ex
 
+    def test_parachute(self):
+        self.set_rc(9, 1000)
+        self.set_parameter("CHUTE_ENABLED", 1)
+        self.set_parameter("CHUTE_TYPE", 10)
+        self.set_parameter("SERVO9_FUNCTION", 27)
+        self.set_parameter("SIM_PARA_ENABLE", 1)
+        self.set_parameter("SIM_PARA_PIN", 9)
+
+        self.load_mission("plane-parachute-mission.txt")
+        self.mavproxy.send("wp set 1\n")
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.mavproxy.expect("BANG")
+        self.reboot_sitl()
+
     def run_subtest(self, desc, func):
         self.start_subtest(desc)
         func()
@@ -772,6 +788,8 @@ class AutoTestPlane(AutoTest):
              "Test Gripper mission items",
              self.test_gripper_mission),
 
+            ("Parachute", "Test Parachute", self.test_parachute),
+
             ("LogDownLoad",
              "Log download",
              lambda: self.log_download(

Tools/autotest/copter_parachute_mission.txt

@@ -0,0 +1,4 @@
+QGC WPL 110
+0	1	0	16	0.000000	0.000000	0.000000	0.000000	-35.362881	149.165222	582.000000	1
+1	0	3	22	0.000000	0.000000	0.000000	0.000000	  0.000000        0.000000	20.000000	1
+2	0	0      208	2.000000	0.000000	0.000000	0.000000	  0.000000	  0.000000	0.000000	1

Tools/autotest/plane-parachute-mission.txt

@@ -0,0 +1,5 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.362045	149.165878	584.280029	1
+1	0	3	22	0.000000	0.000000	0.000000	0.000000	-35.362125	149.165039	10.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364845	149.163452	11.000000	1
+3	0	0      208	2.000000	0.000000	0.000000	0.000000	  0.000000	  0.000000	0.000000	1