Tools: Add test for SET_MESSAGE_INTERVAL limiting

stephendade · Sep 22, 2024 · 686cfba · 686cfba
1 parent e42a194
commit 686cfba
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Showing 2 changed files with 11 additions and 2 deletions.
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
@@ -700,7 +700,7 @@ def ThrottleFailsafePassthrough(self):
 
         self.reboot_sitl()
 
-        self.context_set_message_rate_hz('SERVO_OUTPUT_RAW', 200)
+        self.context_set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200)
 
         self.set_rc(channel, 1799)
         expected_servo_output_value = 1778  # 1778 because of weird trim

diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
@@ -10855,10 +10855,19 @@ def SET_MESSAGE_INTERVAL(self):
     def MESSAGE_INTERVAL_COMMAND_INT(self):
         '''Test MAV_CMD_SET_MESSAGE_INTERVAL works as COMMAND_INT'''
         original_rate = round(self.measure_message_rate("VFR_HUD", 20))
-        self.context_set_message_rate_hz('VFR_HUD', original_rate*2, run_cmd=self.run_cmd_int)
+        self.context_set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_VFR_HUD, original_rate*2,
+                                         run_cmd=self.run_cmd_int)
         if abs(original_rate*2 - round(self.get_message_rate_hz("VFR_HUD", run_cmd=self.run_cmd_int))) > 1:
             raise NotAchievedException("Did not set rate")
 
+        # Try setting a rate well beyond SCHED_LOOP_RATE
+        self.run_cmd(
+            mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL,
+            p1=mavutil.mavlink.MAVLINK_MSG_ID_VFR_HUD,
+            p2=self.rate_to_interval_us(800),
+            want_result=mavutil.mavlink.MAV_RESULT_DENIED,
+        )
+
         self.start_subtest("Use REQUEST_MESSAGE via COMMAND_INT")
         # 148 is AUTOPILOT_VERSION:
         self.context_collect('AUTOPILOT_VERSION')