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autotest: reset RNGFNDx_TYPE in rangefinder driver test

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We should reset RNGFNDx_TYPE after we finish testing a set of rangefinder drivers to avoid failing successive tests.
Also, we now fail prearm checks if we receive no data from RF, we need to continuously send DISTANCE_SENSOR messages through mavlink to pass those checks while trying to arm.

Co-Authored-By: Peter Barker <7077857+peterbarker@users.noreply.github.com>
This commit is contained in:
Shiv Tyagi 2021-11-05 22:57:49 +05:30 committed by Randy Mackay
parent 516eafa45b
commit 0cae113521
1 changed files with 17 additions and 11 deletions
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28
Tools/autotest/arducopter.py
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@ -6279,7 +6279,21 @@ class AutoTestCopter(AutoTest):
self.progress("Landing gear should deploy with current_distance below min_distance")
self.change_mode('STABILIZE')
self.wait_ready_to_arm()
timeout = 60
tstart = self.get_sim_time()
while not self.sensor_has_state(mavutil.mavlink.MAV_SYS_STATUS_PREARM_CHECK, True, True, True):
if self.get_sim_time() - tstart > timeout:
raise NotAchievedException("Failed to become armable after %f seconds" % timeout)
self.mav.mav.distance_sensor_send(
0, # time_boot_ms
100, # min_distance (cm)
2500, # max_distance (cm)
200, # current_distance (cm)
mavutil.mavlink.MAV_DISTANCE_SENSOR_LASER, # type
21, # id
mavutil.mavlink.MAV_SENSOR_ROTATION_PITCH_270, # orientation
255 # covariance
)
self.arm_vehicle()
self.set_parameter("SERVO10_FUNCTION", 29)
self.set_parameter("LGR_DEPLOY_ALT", 1)
@ -6298,16 +6312,6 @@ class AutoTestCopter(AutoTest):
0
)
self.mav.mav.distance_sensor_send(
0, # time_boot_ms
100, # min_distance (cm)
2500, # max_distance (cm)
200, # current_distance (cm)
mavutil.mavlink.MAV_DISTANCE_SENSOR_LASER, # type
21, # id
mavutil.mavlink.MAV_SENSOR_ROTATION_PITCH_270, # orientation
255 # covariance
)
self.context_collect("STATUSTEXT")
tstart = self.get_sim_time()
while True:
@ -6537,6 +6541,7 @@ class AutoTestCopter(AutoTest):
do_drivers = drivers[0:3]
drivers = drivers[3:]
command_line_args = []
self.context_push()
for (offs, cmdline_argument, serial_num) in [(0, '--uartE', 4),
(1, '--uartF', 5),
(2, '--uartG', 6)]:
@ -6549,6 +6554,7 @@ class AutoTestCopter(AutoTest):
self.set_parameter("RNGFND%u_TYPE" % (offs+1), rngfnd_param_value)
self.customise_SITL_commandline(command_line_args)
self.fly_rangefinder_drivers_fly([x[0] for x in do_drivers])
self.context_pop()
self.fly_rangefinder_mavlink()