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Tools: added test for InertialLabs EAHRS

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This commit is contained in:
Andrew Tridgell 2023-12-01 15:59:28 +11:00
parent 38960a3db2
commit 59ec0a6b56
2 changed files with 12 additions and 0 deletions
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7
Tools/autotest/ArduPlane_Tests/InertialLabsEAHRS/ap1.txt Normal file
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@ -0,0 +1,7 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.090027 1
1 0 3 22 0.000000 0.000000 0.000000 0.000000 -35.361553 149.163956 20.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364540 149.162857 50.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.367333 149.163164 28.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.366814 149.165878 28.000000 1
5 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.362947 149.165179 0.000000 1

5
Tools/autotest/arduplane.py
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@ -3279,6 +3279,10 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
'''Test MicroStrain EAHRS series 7 support''' '''Test MicroStrain EAHRS series 7 support'''
self.fly_external_AHRS("MicroStrain7", 7, "ap1.txt") self.fly_external_AHRS("MicroStrain7", 7, "ap1.txt")
def InertialLabsEAHRS(self):
'''Test InertialLabs EAHRS support'''
self.fly_external_AHRS("ILabs", 5, "ap1.txt")
def get_accelvec(self, m): def get_accelvec(self, m):
return Vector3(m.xacc, m.yacc, m.zacc) * 0.001 * 9.81 return Vector3(m.xacc, m.yacc, m.zacc) * 0.001 * 9.81
@ -5358,6 +5362,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
self.VectorNavEAHRS, self.VectorNavEAHRS,
self.MicroStrainEAHRS5, self.MicroStrainEAHRS5,
self.MicroStrainEAHRS7, self.MicroStrainEAHRS7,
self.InertialLabsEAHRS,
self.Deadreckoning, self.Deadreckoning,
self.DeadreckoningNoAirSpeed, self.DeadreckoningNoAirSpeed,
self.EKFlaneswitch, self.EKFlaneswitch,