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autotest: add test for accel consistency check

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Peter Barker 2023-02-21 08:53:34 +11:00 committed by Peter Barker
parent 8ce904559d
commit 421c382bcc
1 changed files with 17 additions and 0 deletions
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17
Tools/autotest/arducopter.py
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@ -9347,6 +9347,22 @@ class AutoTestCopter(AutoTest):
self.context_pop()
self.reboot_sitl()
def IMUConsistency(self):
'''test IMUs must be consistent with one another'''
self.wait_ready_to_arm()
self.start_subsubtest("prearm checks for accel inconsistency")
self.context_push()
self.set_parameters({
"SIM_ACC1_BIAS_X": 5,
})
self.assert_prearm_failure("Accels inconsistent")
self.context_pop()
tstart = self.get_sim_time()
self.wait_ready_to_arm()
if self.get_sim_time() - tstart < 8:
raise NotAchievedException("Should take 10 seconds to become armableafter IMU upset")
def Sprayer(self):
"""Test sprayer functionality."""
self.context_push()
@ -9673,6 +9689,7 @@ class AutoTestCopter(AutoTest):
self.ThrottleGainBoost,
self.ScriptMountPOI,
self.FlyMissionTwice,
self.IMUConsistency,
])
return ret