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Tools: autotest: make plane receiver-healthy check more reliable

This commit is contained in:
Peter Barker 2019-10-07 08:17:12 +11:00 committed by Peter Barker
parent 34ef247449
commit 1af76bbf60
1 changed files with 4 additions and 2 deletions
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6
Tools/autotest/arduplane.py
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@ -839,9 +839,11 @@ class AutoTestPlane(AutoTest):
raise NotAchievedException("Sensor healthy when it shouldn't be")
self.progress("Making RC work again")
self.set_parameter("SIM_RC_FAIL", 0)
# have to allow time for RC to be fetched from SITL
self.progress("Giving receiver time to recover")
for i in range(1, 10):
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
self.delay_sim_time(0.5)
self.drain_mav_unparsed()
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
self.progress("Testing receiver enabled")
if (not (m.onboard_control_sensors_enabled & receiver_bit)):
raise NotAchievedException("Receiver not enabled")