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autotest: add test for gyro consistency check

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Peter Barker 2023-02-21 09:10:40 +11:00 committed by Peter Barker
parent d80449ac13
commit 2475ee0239
1 changed files with 12 additions and 0 deletions
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12
Tools/autotest/arducopter.py
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@ -9363,6 +9363,18 @@ class AutoTestCopter(AutoTest):
if self.get_sim_time() - tstart < 8: if self.get_sim_time() - tstart < 8:
raise NotAchievedException("Should take 10 seconds to become armableafter IMU upset") raise NotAchievedException("Should take 10 seconds to become armableafter IMU upset")
self.start_subsubtest("prearm checks for gyro inconsistency")
self.context_push()
self.set_parameters({
"SIM_GYR1_BIAS_X": math.radians(10),
})
self.assert_prearm_failure("Gyros inconsistent")
self.context_pop()
tstart = self.get_sim_time()
self.wait_ready_to_arm()
if self.get_sim_time() - tstart < 8:
raise NotAchievedException("Should take 10 seconds to become armableafter IMU upset")
def Sprayer(self): def Sprayer(self):
"""Test sprayer functionality.""" """Test sprayer functionality."""
self.context_push() self.context_push()