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autotest: use new altitude_source keyword in EKF/GPS test

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Peter Barker 2022-09-30 08:21:01 +10:00 committed by Peter Barker
parent fcafd2c685
commit 49b991b92d
1 changed files with 9 additions and 13 deletions
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22
Tools/autotest/arducopter.py
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@ -2616,20 +2616,17 @@ class AutoTestCopter(AutoTest):
self.change_mode("GUIDED")
self.wait_ready_to_arm()
self.progress("waiting for both EKF lanes to init")
self.delay_sim_time(10)
self.delay_sim_time(10, reason='"both EKF lanes to init"')
self.set_parameters({
"SIM_GPS2_GLTCH_Z" : 0
})
self.progress("waiting for EKF to do a position Z reset")
self.delay_sim_time(20)
self.delay_sim_time(20, reason="EKF to do a position Z reset")
self.arm_vehicle()
self.user_takeoff(alt_min=20)
m = self.mav.recv_match(type='GPS_RAW_INT', blocking=True)
gps_alt = m.alt*0.001
gps_alt = self.get_altitude(altitude_source='GPS_RAW_INT.alt')
self.progress("Initial guided alt=%.1fm" % gps_alt)
self.context_collect('STATUSTEXT')
@ -2639,14 +2636,13 @@ class AutoTestCopter(AutoTest):
})
self.wait_statustext("EKF3 lane switch 1", timeout=10, check_context=True)
self.delay_sim_time(10)
m = self.mav.recv_match(type='GPS_RAW_INT', blocking=True)
gps_alt2 = m.alt*0.001
alt_change = gps_alt - gps_alt2
self.progress("GPS Alt change by %.1fm" % abs(alt_change))
self.watch_altitude_maintained(
altitude_min=gps_alt-2,
altitude_max=gps_alt+2,
altitude_source='GPS_RAW_INT.alt',
minimum_duration=10,
)
if abs(alt_change) > 2:
raise NotAchievedException("Altitude changed on lane switch %.1fm" % alt_change)
self.disarm_vehicle(force=True)
self.reboot_sitl()