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autotest: test terarangeri2c

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Peter Barker 2025-02-19 14:12:10 +11:00 committed by Andrew Tridgell
parent dbffd74fb5
commit 30ffcaa8bd
1 changed files with 12 additions and 4 deletions
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16
Tools/autotest/arducopter.py
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@ -8924,8 +8924,15 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.fly_rangefinder_mavlink()
self.fly_rangefinder_sitl() # i.e. type 100
class I2CDriverToTest:
def __init__(self, name, rngfnd_type, rngfnd_addr=None):
self.name = name
self.rngfnd_type = rngfnd_type
self.rngfnd_addr = rngfnd_addr
i2c_drivers = [
("maxbotixi2cxl", 2),
I2CDriverToTest("maxbotixi2cxl", 2),
I2CDriverToTest("terarangeri2c", 14, rngfnd_addr=0x31),
]
while len(i2c_drivers):
do_drivers = i2c_drivers[0:9]
@ -8933,14 +8940,15 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
count = 1
p = {}
for d in do_drivers:
(sim_name, rngfnd_param_value) = d
p["RNGFND%u_TYPE" % count] = rngfnd_param_value
p[f"RNGFND{count}_TYPE"] = d.rngfnd_type
if d.rngfnd_addr is not None:
p[f"RNGFND{count}_ADDR"] = d.rngfnd_addr
count += 1
self.set_parameters(p)
self.reboot_sitl()
self.fly_rangefinder_drivers_fly([x[0] for x in do_drivers])
self.fly_rangefinder_drivers_fly([x.name for x in do_drivers])
def RangeFinderDriversMaxAlt(self):
'''test max-height behaviour'''