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autotest: add test for compass error state logging

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Peter Barker 2022-05-03 11:50:21 +10:00 committed by Peter Barker
parent 82f4faec31
commit 336079ddfa
1 changed files with 10 additions and 8 deletions
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18
Tools/autotest/arducopter.py
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@ -7402,14 +7402,16 @@ class AutoTestCopter(AutoTest):
def SensorErrorFlags(self):
self.reboot_sitl()
for (param_value, expected_ecode, desc) in [
(1, 4, 'unhealthy'),
(0, 0, 'healthy')
for (param_names, param_value, expected_subsys, expected_ecode, desc) in [
(['SIM_BARO_DISABLE', 'SIM_BAR2_DISABLE'], 1, 18, 4, 'unhealthy'),
(['SIM_BARO_DISABLE', 'SIM_BAR2_DISABLE'], 0, 18, 0, 'healthy'),
(['SIM_MAG1_FAIL', 'SIM_MAG2_FAIL', 'SIM_MAG3_FAIL'], 1, 3, 4, 'unhealthy'),
(['SIM_MAG1_FAIL', 'SIM_MAG2_FAIL', 'SIM_MAG3_FAIL'], 0, 3, 0, 'healthy'),
]:
self.set_parameters({
"SIM_BARO_DISABLE": param_value,
"SIM_BAR2_DISABLE": param_value,
})
sp = dict()
for name in param_names:
sp[name] = param_value
self.set_parameters(sp)
self.delay_sim_time(1)
mlog = self.dfreader_for_current_onboard_log()
success = False
@ -7418,7 +7420,7 @@ class AutoTestCopter(AutoTest):
print("Got (%s)" % str(m))
if m is None:
break
if m.Subsys == 18 and m.ECode == expected_ecode: # baro / ecode
if m.Subsys == expected_subsys and m.ECode == expected_ecode: # baro / ecode
success = True
break
if not success: