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autotest: add rangefinder test

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This commit is contained in:
Peter Barker 2021-10-22 08:55:42 +11:00 committed by Andrew Tridgell
parent f7f053191a
commit 1340132f6f
2 changed files with 31 additions and 3 deletions
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9
Tools/autotest/common.py
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@ -4321,14 +4321,17 @@ class AutoTest(ABC):
0, 0,
0) 0)
def set_analog_rangefinder_parameters(self): def analog_rangefinder_parameters(self):
self.set_parameters({ return {
"RNGFND1_TYPE": 1, "RNGFND1_TYPE": 1,
"RNGFND1_MIN_CM": 0, "RNGFND1_MIN_CM": 0,
"RNGFND1_MAX_CM": 4000, "RNGFND1_MAX_CM": 4000,
"RNGFND1_SCALING": 12.12, "RNGFND1_SCALING": 12.12,
"RNGFND1_PIN": 0, "RNGFND1_PIN": 0,
}) }
def set_analog_rangefinder_parameters(self):
self.set_parameters(self.analog_rangefinder_parameters())
def send_debug_trap(self, timeout=6000): def send_debug_trap(self, timeout=6000):
self.progress("Sending trap to autopilot") self.progress("Sending trap to autopilot")

25
Tools/autotest/rover.py
View File

@ -5785,6 +5785,27 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
# make sure we're back at our original value: # make sure we're back at our original value:
self.assert_parameter_value("LOG_BITMASK", 1) self.assert_parameter_value("LOG_BITMASK", 1)
def RangeFinder(self):
# the following magic numbers correspond to the post locations in SITL
home_string = "%s,%s,%s,%s" % (51.8752066, 14.6487840, 54.15, 315)
self.set_parameters({
"SIM_SONAR_ROT": 6,
**(self.analog_rangefinder_parameters()),
})
self.customise_SITL_commandline([
"--home", home_string,
])
self.wait_ready_to_arm()
if self.mavproxy is not None:
self.mavproxy.send('script /tmp/post-locations.scr\n')
m = self.assert_receive_message('RANGEFINDER', very_verbose=True)
if m.voltage == 0:
raise NotAchievedException("Did not get non-zero voltage")
want_range = 10
if abs(m.distance - want_range) > 0.1:
raise NotAchievedException("Expected %fm got %fm" % (want_range, m.distance))
def test_depthfinder(self): def test_depthfinder(self):
# Setup rangefinders # Setup rangefinders
self.customise_SITL_commandline([ self.customise_SITL_commandline([
@ -6083,6 +6104,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
"Accelerometer Calibration testing", "Accelerometer Calibration testing",
self.accelcal), self.accelcal),
("RangeFinder",
"Test RangeFinder",
self.RangeFinder),
("AP_Proximity_MAV", ("AP_Proximity_MAV",
"Test MAV proximity backend", "Test MAV proximity backend",
self.ap_proximity_mav), self.ap_proximity_mav),