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autotest: ensure we're getting vaguely sane data in AHRS2 message

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This commit is contained in:
Peter Barker 2021-03-02 15:43:37 +11:00 committed by Peter Barker
parent cc83562add
commit 317181922c
1 changed files with 29 additions and 0 deletions
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29
Tools/autotest/arduplane.py
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@ -1293,6 +1293,33 @@ class AutoTestPlane(AutoTest):
mavproxy:''' mavproxy:'''
self.clear_fence_using_mavproxy() self.clear_fence_using_mavproxy()
def fly_ahrs2_test(self):
'''check secondary estimator is looking OK'''
ahrs2 = self.mav.recv_match(type='AHRS2', blocking=True, timeout=1)
if ahrs2 is None:
raise NotAchievedException("Did not receive AHRS2 message")
# check location
gpi = self.mav.recv_match(
type='GLOBAL_POSITION_INT',
blocking=True,
timeout=5
)
if gpi is None:
raise NotAchievedException("Did not receive GLOBAL_POSITION_INT message")
if self.get_distance_int(gpi, ahrs2) > 10:
raise NotAchievedException("Secondary location looks bad")
# check attitude
attitude = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=1)
if attitude is None:
raise NotAchievedException("Did not receive ATTITUDE message")
if abs(math.degrees(attitude.roll) - ahrs2.roll) > 5:
raise NotAchievedException("Secondary roll looks bad")
if abs(math.degrees(attitude.pitch) - ahrs2.pitch) > 5:
raise NotAchievedException("Secondary pitch looks bad")
def test_main_flight(self): def test_main_flight(self):
self.change_mode('MANUAL') self.change_mode('MANUAL')
@ -1328,6 +1355,8 @@ class AutoTestPlane(AutoTest):
self.run_subtest("CIRCLE test", self.fly_CIRCLE) self.run_subtest("CIRCLE test", self.fly_CIRCLE)
self.run_subtest("AHRS2 test", self.fly_ahrs2_test)
self.run_subtest("Mission test", self.run_subtest("Mission test",
lambda: self.fly_mission("ap1.txt", strict=False)) lambda: self.fly_mission("ap1.txt", strict=False))