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autotest: added AltResetBadGPS test

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this tests the bug in handling a glitching GPS with low accuracy with
AHRS alt reset
This commit is contained in:
Andrew Tridgell 2023-02-18 08:25:07 +11:00
parent b397319d6b
commit 4bef9b7164
1 changed files with 34 additions and 0 deletions
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34
Tools/autotest/arduplane.py
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@ -3945,6 +3945,39 @@ class AutoTestPlane(AutoTest):
self.disarm_vehicle(force=True)
self.reboot_sitl()
def AltResetBadGPS(self):
'''Tests the handling of poor GPS lock pre-arm alt resets'''
self.set_parameters({
"SIM_GPS_GLITCH_Z": 0,
"SIM_GPS_ACC": 0.3,
})
self.wait_ready_to_arm()
m = self.assert_receive_message('GLOBAL_POSITION_INT')
relalt = m.relative_alt*0.001
if abs(relalt) > 3:
raise NotAchievedException("Bad relative alt %.1f" % relalt)
self.progress("Setting low accuracy, glitching GPS")
self.set_parameter("SIM_GPS_ACC", 40)
self.set_parameter("SIM_GPS_GLITCH_Z", -47)
self.progress("Waiting 10s for height update")
self.delay_sim_time(10)
self.wait_ready_to_arm()
self.arm_vehicle()
m = self.assert_receive_message('GLOBAL_POSITION_INT')
relalt = m.relative_alt*0.001
if abs(relalt) > 3:
raise NotAchievedException("Bad glitching relative alt %.1f" % relalt)
self.disarm_vehicle()
# reboot to clear potentially bad state
self.reboot_sitl()
def tests(self):
'''return list of all tests'''
ret = super(AutoTestPlane, self).tests()
@ -4021,6 +4054,7 @@ class AutoTestPlane(AutoTest):
self.GlideSlopeThresh,
self.HIGH_LATENCY2,
self.MidAirDisarmDisallowed,
self.AltResetBadGPS,
])
return ret