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Tools: add test for maxbotixi2cxl

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Peter Barker 2021-01-13 22:06:22 +11:00 committed by Andrew Tridgell
parent c0ea19e5c5
commit 1cb86303b4
1 changed files with 73 additions and 0 deletions
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73
Tools/autotest/arducopter.py
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@ -5603,6 +5603,75 @@ class AutoTestCopter(AutoTest):
self.progress("mavlink rangefinder OK")
self.land_and_disarm()
def fly_rangefinder_driver_maxbotix(self):
ex = None
try:
self.context_push()
self.start_subtest("No messages")
rf = self.mav.recv_match(type="DISTANCE_SENSOR", timeout=5, blocking=True)
if rf is not None:
raise NotAchievedException("Receiving DISTANCE_SENSOR when I shouldn't be")
self.start_subtest("Default address")
self.set_parameter("RNGFND1_TYPE", 2) # maxbotix
self.reboot_sitl()
self.do_timesync_roundtrip()
rf = self.mav.recv_match(type="DISTANCE_SENSOR", timeout=5, blocking=True)
self.progress("Got (%s)" % str(rf))
if rf is None:
raise NotAchievedException("Didn't receive DISTANCE_SENSOR when I should've")
self.start_subtest("Explicitly set to default address")
self.set_parameter("RNGFND1_TYPE", 2) # maxbotix
self.set_parameter("RNGFND1_ADDR", 0x70)
self.reboot_sitl()
self.do_timesync_roundtrip()
rf = self.mav.recv_match(type="DISTANCE_SENSOR", timeout=5, blocking=True)
self.progress("Got (%s)" % str(rf))
if rf is None:
raise NotAchievedException("Didn't receive DISTANCE_SENSOR when I should've")
self.start_subtest("Explicitly set to non-default address")
self.set_parameter("RNGFND1_ADDR", 0x71)
self.reboot_sitl()
self.do_timesync_roundtrip()
rf = self.mav.recv_match(type="DISTANCE_SENSOR", timeout=5, blocking=True)
self.progress("Got (%s)" % str(rf))
if rf is None:
raise NotAchievedException("Didn't receive DISTANCE_SENSOR when I should've")
self.start_subtest("Two MaxBotix RangeFinders")
self.set_parameter("RNGFND1_TYPE", 2) # maxbotix
self.set_parameter("RNGFND1_ADDR", 0x70)
self.set_parameter("RNGFND1_MIN_CM", 150)
self.set_parameter("RNGFND2_TYPE", 2) # maxbotix
self.set_parameter("RNGFND2_ADDR", 0x71)
self.set_parameter("RNGFND2_MIN_CM", 250)
self.reboot_sitl()
self.do_timesync_roundtrip()
for i in [0, 1]:
rf = self.mav.recv_match(type="DISTANCE_SENSOR", timeout=5, blocking=True, condition="DISTANCE_SENSOR.id==%u" % i)
self.progress("Got id==%u (%s)" % (i, str(rf)))
if rf is None:
raise NotAchievedException("Didn't receive DISTANCE_SENSOR when I should've")
expected_dist = 150
if i == 1:
expected_dist = 250
if rf.min_distance != expected_dist:
raise NotAchievedException("Unexpected min_cm (want=%u got=%u)" %
(expected_dist, rf.min_distance))
self.context_pop()
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))
ex = e
self.reboot_sitl()
if ex is not None:
raise ex
def fly_rangefinder_drivers(self):
self.set_parameter("RTL_ALT", 500)
self.set_parameter("RTL_ALT_TYPE", 1)
@ -6153,6 +6222,10 @@ class AutoTestCopter(AutoTest):
"Test rangefinder drivers",
self.fly_rangefinder_drivers), #62s
("MaxBotixI2CXL",
"Test maxbotix rangefinder drivers",
self.fly_rangefinder_driver_maxbotix), #62s
("ParameterValidation",
"Test parameters are checked for validity",
self.test_parameter_validation),