Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Tools: re-work copter and plane loss of GPS auto tests 

Explicitly test time taken to reset to GPS loss and regain of lock for copter without and plane with dead reckoning assistance.
This commit is contained in:
Paul Riseborough 2023-02-21 11:34:14 +11:00 committed by Andrew Tridgell
parent 2c3174b77b
commit 2b027a7265
2 changed files with 36 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
Tools/autotest/arducopter.py
View File

@ -1922,6 +1922,22 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.show_gps_and_sim_positions(False)
raise e
# stop and test loss of GPS for a short time - it should resume GPS use without falling back into a non aiding mode
self.change_mode("LOITER")
self.set_parameters({
"SIM_GPS_DISABLE": 1,
})
self.delay_sim_time(2)
self.set_parameters({
"SIM_GPS_DISABLE": 0,
})
# regaining GPS should not result in it falling back to a non-navigation mode
self.wait_ekf_flags(mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS, 0, timeout=1)
# It should still be navigating after enougnh time has passed for any pending timeouts to activate.
self.delay_sim_time(10)
self.wait_ekf_flags(mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS, 0, timeout=1)
self.change_mode("AUTO")
# record time and position
tstart = self.get_sim_time()

20
Tools/autotest/arduplane.py
View File

@ -2195,8 +2195,28 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.delay_sim_time(20)
self.change_mode("RTL")
self.wait_distance_to_home(100, 200, timeout=200)
# go into LOITER to create additonal time for a GPS re-enable test
self.change_mode("LOITER")
self.set_parameter("SIM_GPS_DISABLE", 0)
t_enabled = self.get_sim_time()
# The EKF should wait for GPS checks to pass when we are still able to navigate using dead reckoning
# to prevent bad GPS being used when coming back after loss of lock due to interence.
self.wait_ekf_flags(mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS, 0, timeout=15)
if self.get_sim_time() < (t_enabled+9):
raise NotAchievedException("GPS use re-started too quickly")
# wait for EKF and vehicle position to stabilise, then test response to jamming
self.delay_sim_time(20)
self.set_parameter("AHRS_OPTIONS", 1)
self.set_parameter("SIM_GPS_JAM", 1)
self.delay_sim_time(10)
self.set_parameter("SIM_GPS_JAM", 0)
t_enabled = self.get_sim_time()
# The EKF should wait for GPS checks to pass when we are still able to navigate using dead reckoning
# to prevent bad GPS being used when coming back after loss of lock due to interence.
self.wait_ekf_flags(mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS, 0, timeout=15)
if self.get_sim_time() < (t_enabled+9):
raise NotAchievedException("GPS use re-started too quickly after jamming")
self.set_rc(3, 1000)
self.fly_home_land_and_disarm()
self.progress("max-divergence: %fm" % (self.max_divergence,))