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