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autotest: ensure optical flow mavlink status roughly correct

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Peter Barker 2022-10-19 14:34:17 +11:00 committed by Peter Barker
parent 1d326db931
commit 117c5df6ca
1 changed files with 7 additions and 1 deletions
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8
Tools/autotest/arducopter.py
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@ -2110,7 +2110,10 @@ class AutoTestCopter(AutoTest):
}) })
def OpticalFlow(self): def OpticalFlow(self):
'''test optical low works''' '''test optical flow works'''
self.assert_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW, False, False, False, verbose=True)
self.start_subtest("Make sure no crash if no rangefinder") self.start_subtest("Make sure no crash if no rangefinder")
self.set_parameter("SIM_FLOW_ENABLE", 1) self.set_parameter("SIM_FLOW_ENABLE", 1)
self.set_parameter("FLOW_TYPE", 10) self.set_parameter("FLOW_TYPE", 10)
@ -2118,6 +2121,9 @@ class AutoTestCopter(AutoTest):
self.configure_EKFs_to_use_optical_flow_instead_of_GPS() self.configure_EKFs_to_use_optical_flow_instead_of_GPS()
self.reboot_sitl() self.reboot_sitl()
self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW, True, True, True, verbose=True)
self.change_mode('LOITER') self.change_mode('LOITER')
self.delay_sim_time(5) self.delay_sim_time(5)
self.wait_statustext("Need Position Estimate", timeout=300) self.wait_statustext("Need Position Estimate", timeout=300)