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Tools: autotest: correct pre-arm flags-OK checks

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Peter Barker 2019-03-08 08:30:20 +11:00 committed by Peter Barker
parent 19f51813f2
commit 4d3ca97a0f
1 changed files with 7 additions and 10 deletions
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17
Tools/autotest/common.py
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@ -1593,21 +1593,18 @@ class AutoTest(ABC):
error_bits |= mavutil.mavlink.ESTIMATOR_GPS_GLITCH
self.progress("Waiting for EKF value %u" % required_value)
last_err_print_time = 0
last_print_time = 0
while timeout is None or self.get_sim_time_cached() < tstart + timeout:
m = self.mav.recv_match(type='EKF_STATUS_REPORT', blocking=True)
current = m.flags
if self.get_sim_time_cached() - last_print_time > 1:
self.progress("Wait EKF.flags: required:%u current:%u" %
(required_value, current))
last_print_time = self.get_sim_time_cached()
errors = current & error_bits
if errors and self.get_sim_time_cached() - last_err_print_time > 1:
self.progress("Wait EKF.flags: errors=%u" % errors)
last_err_print_time = self.get_sim_time_cached()
continue
if (current & required_value == required_value):
everything_ok = (errors == 0 and
current & required_value == required_value)
if everything_ok or self.get_sim_time_cached() - last_print_time > 1:
self.progress("Wait EKF.flags: required:%u current:%u errors=%u" %
(required_value, current, errors))
last_print_time = self.get_sim_time_cached()
if everything_ok:
self.progress("EKF Flags OK")
return True
raise AutoTestTimeoutException("Failed to get EKF.flags=%u" %