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autotest: fix flapping AirspeedDrivers test

This commit is contained in:
Peter Barker 2022-06-11 14:10:09 +10:00 committed by Andrew Tridgell
parent bb36cedee3
commit 09ab90b8be
1 changed files with 10 additions and 0 deletions
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10
Tools/autotest/arduplane.py
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@ -2509,8 +2509,13 @@ function'''
# insert listener to compare airspeeds:
airspeed = [None, None]
# don't start testing until we've seen real speed from
# both sensors. This gets us out of the noise area.
global initial_airspeed_threshold_reached
initial_airspeed_threshold_reached = False
def check_airspeeds(mav, m):
global initial_airspeed_threshold_reached
m_type = m.get_type()
if (m_type == 'NAMED_VALUE_FLOAT' and
m.name == 'AS2'):
@ -2521,6 +2526,11 @@ function'''
return
if airspeed[0] is None or airspeed[1] is None:
return
if not initial_airspeed_threshold_reached:
if (airspeed[0] < 2 or airspeed[1] < 2 and
not (airspeed[0] > 10 or airspeed[1] > 10)):
return
initial_airspeed_threshold_reached = True
delta = abs(airspeed[0] - airspeed[1])
if delta > 2:
raise NotAchievedException("Airspeed mismatch (as1=%f as2=%f)" % (airspeed[0], airspeed[1]))