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autotest: reboot SITL when moving from EKF10 to EKF2 in mag test

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Bad things happen when moving from one to the other...
This commit is contained in:
Peter Barker 2021-01-12 09:08:43 +11:00 committed by Peter Barker
parent 987466bc3d
commit 5318538182
1 changed files with 9 additions and 4 deletions
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13
Tools/autotest/common.py
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@ -5453,10 +5453,6 @@ Also, ignores heartbeats not from our target system'''
self.verify_parameter_values({"COMPASS_ORIENT%d" % count: 0})
def test_mag_calibration(self, compass_count=3, timeout=1000):
ex = None
self.set_parameter("AHRS_EKF_TYPE", 10)
self.set_parameter("SIM_GND_BEHAV", 0)
def reset_pos_and_start_magcal(tmask):
self.mavproxy.send("sitl_stop\n")
self.mavproxy.send("sitl_attitude 0 0 0\n")
@ -5740,7 +5736,12 @@ Also, ignores heartbeats not from our target system'''
self.mavproxy_unload_module("relay")
self.mavproxy_unload_module("sitl_calibration")
ex = None
try:
self.set_parameter("AHRS_EKF_TYPE", 10)
self.set_parameter("SIM_GND_BEHAV", 0)
curr_params = []
target_mask = 0
# we test all bitmask plus 0 for all
@ -5764,6 +5765,10 @@ Also, ignores heartbeats not from our target system'''
if ex is not None:
raise ex
# need to reboot SITL after moving away from EKF type 10; we
# can end up with home set but origin not and that will lead
# to bad things.
self.reboot_sitl()
def test_mag_reordering_assert_mag_transform(self, values, transforms):
'''transforms ought to be read as, "take all the parameter values from