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autotest: add test for ahrs-source.lua

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Peter Barker 2024-09-07 19:43:43 +10:00 committed by Peter Barker
parent 253d98dd53
commit 1e8e250459
1 changed files with 21 additions and 0 deletions
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21
Tools/autotest/arducopter.py
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@ -11840,6 +11840,26 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
want_result=mavutil.mavlink.MAV_RESULT_DENIED, want_result=mavutil.mavlink.MAV_RESULT_DENIED,
) )
def ScriptingAHRSSource(self):
'''test ahrs-source.lua script'''
self.install_example_script_context("ahrs-source.lua")
self.set_parameters({
"RC10_OPTION": 90,
"SCR_ENABLE": 1,
"SCR_USER1": 10, # something else
"SCR_USER2": 10, # GPS something
"SCR_USER3": 0.2, # ExtNav innovation
})
self.set_rc(10, 2000)
self.reboot_sitl()
self.context_collect('STATUSTEXT')
self.set_rc(10, 1000)
self.wait_statustext('Using EKF Source Set 1', check_context=True)
self.set_rc(10, 1500)
self.wait_statustext('Using EKF Source Set 2', check_context=True)
self.set_rc(10, 2000)
self.wait_statustext('Using EKF Source Set 3', check_context=True)
def tests2b(self): # this block currently around 9.5mins here def tests2b(self): # this block currently around 9.5mins here
'''return list of all tests''' '''return list of all tests'''
ret = ([ ret = ([
@ -11941,6 +11961,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.MissionRTLYawBehaviour, self.MissionRTLYawBehaviour,
self.BatteryInternalUseOnly, self.BatteryInternalUseOnly,
self.MAV_CMD_MISSION_START_p1_p2, self.MAV_CMD_MISSION_START_p1_p2,
self.ScriptingAHRSSource,
]) ])
return ret return ret