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autotest: started work on replay testing

This commit is contained in:
Andrew Tridgell 2020-11-06 10:37:58 +11:00
parent 161f2a8d2f
commit 3ae237b652
1 changed files with 66 additions and 0 deletions
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66
Tools/autotest/arducopter.py
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@ -5291,7 +5291,69 @@ class AutoTestCopter(AutoTest):
ex = e
self.context_pop()
self.disarm_vehicle(force=True)
def test_dcm_yaw_inconsistent(self):
self.context_push()
ex = None
try:
self.set_parameter("LOG_REPLAY", 1)
self.reboot_sitl()
current_log_filepath = self.current_onboard_log_filepath()
self.context_collect("STATUSTEXT")
self.set_parameter("EK2_ENABLE", 0)
self.set_parameter("EK3_ENABLE", 1)
self.set_parameter("AHRS_EKF_TYPE", 3)
self.set_parameter("COMPASS_USE2", 0)
self.set_parameter("COMPASS_USE3", 0)
self.set_parameter("SIM_MAG_ORIENT", 2)
# self.wait_statustext("PreArm: Compasses inconsistent", timeout=20)
self.wait_statustext("Yaw inconsistent by",
timeout=60,
check_context=True)
self.context_stop_collecting('STATUSTEXT')
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0,
want_result=mavutil.mavlink.MAV_RESULT_FAILED
)
self.set_parameter("SIM_MAG_ORIENT", 0)
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 10:
raise NotAchievedException("Did not recover from bad mag")
try:
self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
1, # ARM
0,
0,
0,
0,
0,
0,
)
break
self.delay_sim_time(1)
except ValueError as e:
pass
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))
ex = e
self.context_pop()
self.disarm_vehicle()
self.reboot_sitl()
self.progress("Current log path: %s" % str(current_log_filepath))
# self.replay_log(current_log_filepath)
if ex is not None:
raise ex
@ -5639,6 +5701,10 @@ class AutoTestCopter(AutoTest):
"Test DataFlash Block backend erase",
self.test_dataflash_erase),
("DCMYawInconsistent",
"Test Arming with bad compass orientation",
self.test_dcm_yaw_inconsistent),
("LogUpload",
"Log upload",
self.log_upload),