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autotest: remove older compass calibration test

This commit is contained in:
bugobliterator 2020-05-18 20:39:14 +05:30 committed by Andrew Tridgell
parent c0eb27cc35
commit 2c3bd61eb4
1 changed files with 0 additions and 96 deletions
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96
Tools/autotest/arducopter.py
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@ -4054,98 +4054,6 @@ class AutoTestCopter(AutoTest):
if ex is not None:
raise ex
def test_onboard_compass_calibration(self, timeout=300):
params = [
("SIM_MAG_DIA_X", "COMPASS_DIA_X", 1.0),
("SIM_MAG_DIA_Y", "COMPASS_DIA_Y", 1.1),
("SIM_MAG_DIA_Z", "COMPASS_DIA_Z", 1.2),
("SIM_MAG_ODI_X", "COMPASS_ODI_X", 0.004),
("SIM_MAG_ODI_Y", "COMPASS_ODI_Y", 0.005),
("SIM_MAG_ODI_Z", "COMPASS_ODI_Z", 0.006),
]
twist_x = 2.1
twist_y = 2.2
twist_z = 2.3
ex = None
self.context_push()
try:
self.set_parameter("SIM_GND_BEHAV", 0)
self.set_parameter("AHRS_EKF_TYPE", 10)
for param in params:
(_in, _out, value) = param
self.set_parameter(_in, value)
# ensure new parameters get reversed at end of test:
self.set_parameter(_out, self.get_parameter(_out))
self.reboot_sitl()
report = self.mav.messages.get("MAG_CAL_REPORT", None)
if report is not None:
raise PreconditionFailedException("MAG_CAL_REPORT found")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL,
1, # bitmask of compasses to calibrate
0,
1, # save without user input
0,
0,
0,
0,
timeout=2)
tstart = self.get_sim_time()
last_twist_time = 0
while True:
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise NotAchievedException("timeout before cal complete")
report = self.mav.messages.get("MAG_CAL_REPORT", None)
if report is not None:
print("Report: %s" % str(report))
# give time for things to save or whatever:
self.wait_heartbeat()
self.wait_heartbeat()
for param in params:
(_in, _out, value) = param
got_value = self.get_parameter(_out)
if abs(got_value - value) > value*0.15:
raise NotAchievedException("%s/%s not within 15%%; got %f want=%f" % (_in, _out, got_value, value))
break
if now - last_twist_time > 5:
last_twist_time = now
twist_x *= 1.1
twist_y *= 1.2
twist_z *= 1.3
if abs(twist_x) > 10:
twist_x /= -2
if abs(twist_y) > 10:
twist_y /= -2
if abs(twist_z) > 10:
twist_z /= -2
self.set_parameter("SIM_TWIST_X", twist_x/10.0)
self.set_parameter("SIM_TWIST_Y", twist_y/10.0)
self.set_parameter("SIM_TWIST_Z", twist_z/10.0)
try:
self.set_parameter("SIM_TWIST_TIME", 100)
except ValueError as e:
# the shove resets this to zero
pass
m = self.mav.recv_match(type="MAG_CAL_PROGRESS", timeout=1)
self.progress("progress: %s" % str(m))
if m is None:
continue
att = self.mav.messages.get("ATTITUDE", None)
self.progress("Attitude: %f %f %f" %
(math.degrees(att.roll), math.degrees(att.pitch), math.degrees(att.yaw)))
except Exception as e:
self.progress("Exception caught: %s" % (
self.get_exception_stacktrace(e)))
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def fly_brake_mode(self):
# test brake mode
self.progress("Testing brake mode")
@ -5076,10 +4984,6 @@ class AutoTestCopter(AutoTest):
"Fly follow mode",
self.fly_follow_mode),
("OnboardCompassCalibration",
"Test onboard compass calibration",
self.test_onboard_compass_calibration),
("RangeFinderDrivers",
"Test rangefinder drivers",
self.fly_rangefinder_drivers),