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autotest: check new MAV_SYS_STATUS_PREARM_CHECK in wait_ready_to_arm

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Peter Barker 2020-12-06 10:33:06 +11:00 committed by Peter Barker
parent 013b39d2a6
commit 5707d8ecc0
1 changed files with 60 additions and 1 deletions
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61
Tools/autotest/common.py
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@ -4294,7 +4294,64 @@ class AutoTest(ABC):
self.progress("GPS healthy")
return
def wait_ready_to_arm(self, timeout=120, require_absolute=True):
def assert_sensor_state(self, sensor, present=True, enabled=True, healthy=True):
return self.sensor_has_state(sensor, present, enabled, healthy, do_assert=True)
def sensor_has_state(self, sensor, present=True, enabled=True, healthy=True, do_assert=False):
m = self.mav.recv_match(type='SYS_STATUS', blocking=True, timeout=5)
if m is None:
raise NotAchievedException("Did not receive SYS_STATUS")
# self.progress("Status: %s" % str(mavutil.dump_message_verbose(sys.stdout, m)))
reported_present = m.onboard_control_sensors_present & sensor
reported_enabled = m.onboard_control_sensors_enabled & sensor
reported_healthy = m.onboard_control_sensors_health & sensor
if present:
if not reported_present:
if do_assert:
raise NotAchievedException("Sensor not present")
return False
else:
if reported_present:
if do_assert:
raise NotAchievedException("Sensor present when it shouldn't be")
return False
if enabled:
if not reported_enabled:
if do_assert:
raise NotAchievedException("Sensor not enabled")
return False
else:
if reported_enabled:
if do_assert:
raise NotAchievedException("Sensor enabled when it shouldn't be")
return False
if healthy:
if not reported_healthy:
if do_assert:
raise NotAchievedException("Sensor not healthy")
return False
else:
if reported_healthy:
if do_assert:
raise NotAchievedException("Sensor healthy when it shouldn't be")
return False
return True
def wait_prearm_sys_status_healthy(self, timeout=60):
self.do_timesync_roundtrip()
tstart = self.get_sim_time()
while True:
t2 = self.get_sim_time_cached()
if t2 - tstart > timeout:
self.progress("Prearm bit never went true. Attempting arm to elicit reason from autopilot")
self.arm_vehicle()
raise AutoTestTimeoutException("Prearm bit never went true")
if self.sensor_has_state(mavutil.mavlink.MAV_SYS_STATUS_PREARM_CHECK, True, True, True):
break
def wait_ready_to_arm(self, timeout=120, require_absolute=True, check_prearm_bit=True):
# wait for EKF checks to pass
self.progress("Waiting for ready to arm")
start = self.get_sim_time()
@ -4306,6 +4363,8 @@ class AutoTest(ABC):
m = self.poll_home_position()
if m is None:
raise NotAchievedException("Did not receive a home position")
if check_prearm_bit:
self.wait_prearm_sys_status_healthy()
self.progress("Took %u seconds to become armable" % armable_time)
self.total_waiting_to_arm_time += armable_time
self.waiting_to_arm_count += 1