mirror of https://github.com/ArduPilot/ardupilot
Tools: autotest: fix no-gps switch-to-location test
This commit is contained in:
parent
1e2cf4bb60
commit
16476332b2
|
@ -2753,6 +2753,13 @@ class AutoTestCopter(AutoTest):
|
|||
self.set_parameter("GPS_TYPE", 0)
|
||||
self.reboot_sitl()
|
||||
self.change_mode('STABILIZE')
|
||||
self.wait_ekf_flags((mavutil.mavlink.ESTIMATOR_ATTITUDE |
|
||||
mavutil.mavlink.ESTIMATOR_VELOCITY_VERT |
|
||||
mavutil.mavlink.ESTIMATOR_POS_VERT_ABS |
|
||||
mavutil.mavlink.ESTIMATOR_CONST_POS_MODE |
|
||||
mavutil.mavlink.ESTIMATOR_PRED_POS_HORIZ_REL),
|
||||
0,
|
||||
timeout=120)
|
||||
self.arm_vehicle()
|
||||
self.mavproxy.send("mode LOITER\n")
|
||||
self.mavproxy.expect("requires position")
|
||||
|
|
|
@ -1664,7 +1664,6 @@ class AutoTest(ABC):
|
|||
if (int(self.get_parameter('AHRS_EKF_TYPE')) == 10):
|
||||
return True
|
||||
|
||||
tstart = self.get_sim_time()
|
||||
# all of these must be set for arming to happen:
|
||||
required_value = (mavutil.mavlink.EKF_ATTITUDE |
|
||||
mavutil.mavlink.ESTIMATOR_VELOCITY_HORIZ |
|
||||
|
@ -1679,9 +1678,12 @@ class AutoTest(ABC):
|
|||
mavutil.mavlink.ESTIMATOR_POS_VERT_ABS |
|
||||
mavutil.mavlink.ESTIMATOR_PRED_POS_HORIZ_ABS)
|
||||
error_bits |= mavutil.mavlink.ESTIMATOR_GPS_GLITCH
|
||||
self.wait_ekf_flags(required_value, error_bits, timeout=timeout)
|
||||
|
||||
def wait_ekf_flags(self, required_value, error_bits, timeout=30):
|
||||
self.progress("Waiting for EKF value %u" % required_value)
|
||||
last_print_time = 0
|
||||
tstart = self.get_sim_time()
|
||||
while timeout is None or self.get_sim_time_cached() < tstart + timeout:
|
||||
m = self.mav.recv_match(type='EKF_STATUS_REPORT', blocking=True)
|
||||
current = m.flags
|
||||
|
|
Loading…
Reference in New Issue