Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-02 14:08:45 -04:00
Code Issues Packages Projects Releases Wiki Activity

autotest: run gyro/accel cal at non-reference temperature

Browse Source
This commit is contained in:
Andrew Tridgell 2021-01-18 18:47:37 +11:00 committed by Peter Barker
parent 5a180fa7a8
commit 4c315b57ca
1 changed files with 9 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
Tools/autotest/arduplane.py
View File

@ -1947,14 +1947,18 @@ class AutoTestPlane(AutoTest):
"SIM_IMUT_START" : 3.000000, "SIM_IMUT_START" : 3.000000,
"SIM_IMUT_TCONST" : 75.000000, "SIM_IMUT_TCONST" : 75.000000,
"SIM_DRIFT_SPEED" : 0, "SIM_DRIFT_SPEED" : 0,
"INS_GYR_CAL" : 1, "INS_GYR_CAL" : 0,
}) })
self.progress("Running accelcal") self.set_parameter("SIM_IMUT_FIXED", 12)
self.set_parameter("SIM_IMUT_FIXED", 35) self.progress("Running accel cal")
self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
0,0,0,0,4,0,0, 0,0,0,0,4,0,0,
timeout=5) timeout=5)
self.progress("Running gyro cal")
self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
0,0,0,0,1,0,0,
timeout=5)
self.set_parameters({"SIM_IMUT_FIXED" : 0, self.set_parameters({"SIM_IMUT_FIXED" : 0,
"INS_TCAL1_ENABLE" : 2, "INS_TCAL1_ENABLE" : 2,
"INS_TCAL1_TMAX" : 42, "INS_TCAL1_TMAX" : 42,
@ -2018,8 +2022,8 @@ class AutoTestPlane(AutoTest):
raise NotAchievedException("TCAL2 did not complete") raise NotAchievedException("TCAL2 did not complete")
self.progress("Testing with compensation enabled") self.progress("Testing with compensation enabled")
gyro_threshold = 1.0 gyro_threshold = 0.2
accel_threshold = 0.5 accel_threshold = 0.05
test_temperatures = range(10,45,5) test_temperatures = range(10,45,5)
corrected = {} corrected = {}