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autotest: added assert_reach_imu_temperature() abstraction

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Andrew Tridgell 2021-01-20 14:52:58 +11:00 committed by Peter Barker
parent 5a5ba26468
commit 58b9cd2c6e
2 changed files with 33 additions and 49 deletions
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61
Tools/autotest/arduplane.py
View File

@ -1959,68 +1959,31 @@ class AutoTestPlane(AutoTest):
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,
"INS_TCAL1_ENABLE" : 2,
"INS_TCAL1_TMAX" : 42,
"INS_TCAL2_ENABLE" : 2,
"INS_TCAL2_TMAX" : 42,
"SIM_SPEEDUP" : 200})
self.mavproxy.send("set streamrate 1\n")
self.set_parameters({
"SIM_IMUT_FIXED" : 0,
"INS_TCAL1_ENABLE" : 2,
"INS_TCAL1_TMAX" : 42,
"INS_TCAL2_ENABLE" : 2,
"INS_TCAL2_TMAX" : 42,
"SIM_SPEEDUP" : 200,
})
self.set_streamrate(1)
self.set_parameter("LOG_DISARMED", 1)
self.reboot_sitl()
self.progress("Waiting for IMU temperature")
tstart = self.get_sim_time()
timeout = 600
temp_ok = False
last_print_temp = -100
while self.get_sim_time_cached() - tstart < timeout:
m = self.mav.recv_match(type='RAW_IMU', blocking=True, timeout=2)
if m is None:
raise NotAchievedException("RAW_IMU")
temperature = m.temperature*0.01
if temperature >= 43:
self.progress("Reached temperature %.1f" % temperature)
temp_ok = True
break
if temperature - last_print_temp > 1:
self.progress("temperature %.1f" % temperature)
last_print_temp = temperature
self.assert_reach_imu_temperature(43, timeout=600)
if not temp_ok:
raise NotAchievedException("target temperature")
if self.get_parameter("INS_TCAL1_ENABLE") != 1.0:
raise NotAchievedException("TCAL1 did not complete")
if self.get_parameter("INS_TCAL2_ENABLE") != 1.0:
raise NotAchievedException("TCAL2 did not complete")
self.progress("Testing with calibration enabled")
self.progress("Logging with calibration enabled")
self.reboot_sitl()
tstart = self.get_sim_time()
timeout = 600
temp_ok = False
last_print_temp = -100
while self.get_sim_time_cached() - tstart < timeout:
m = self.mav.recv_match(type='RAW_IMU', blocking=True, timeout=2)
if m is None:
raise NotAchievedException("RAW_IMU")
temperature = m.temperature*0.01
if temperature >= 43:
self.progress("Reached temperature %.1f" % temperature)
temp_ok = True
break
if temperature - last_print_temp > 1:
self.progress("temperature %.1f" % temperature)
last_print_temp = temperature
self.assert_reach_imu_temperature(43, timeout=600)
if not temp_ok:
raise NotAchievedException("target temperature")
if self.get_parameter("INS_TCAL1_ENABLE") != 1.0:
raise NotAchievedException("TCAL1 did not complete")
if self.get_parameter("INS_TCAL2_ENABLE") != 1.0:
raise NotAchievedException("TCAL2 did not complete")
self.progress("Testing with compensation enabled")
gyro_threshold = 0.2
accel_threshold = 0.05

21
Tools/autotest/common.py
View File

@ -2510,6 +2510,27 @@ class AutoTest(ABC):
(parameter, required, got))
self.progress("%s has value %f" % (parameter, required))
def assert_reach_imu_temperature(self, target, timeout):
'''wait to reach a target temperature'''
tstart = self.get_sim_time()
temp_ok = False
last_print_temp = -100
while self.get_sim_time_cached() - tstart < timeout:
m = self.mav.recv_match(type='RAW_IMU', blocking=True, timeout=2)
if m is None:
raise NotAchievedException("RAW_IMU")
temperature = m.temperature*0.01
if temperature >= target:
self.progress("Reached temperature %.1f" % temperature)
temp_ok = True
break
if temperature - last_print_temp > 1:
self.progress("temperature %.1f" % temperature)
last_print_temp = temperature
if not temp_ok:
raise NotAchievedException("target temperature")
def onboard_logging_not_log_disarmed(self):
self.set_parameter("LOG_DISARMED", 0)
self.set_parameter("LOG_FILE_DSRMROT", 0)