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autotest: expanded accelcal test to check values 

this checks the resulting accelcal is correct within 1%
This commit is contained in:
Andrew Tridgell 2021-01-20 13:36:07 +11:00 committed by Peter Barker
parent b12a663f7a
commit 5a5ba26468
1 changed files with 37 additions and 1 deletions
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38
Tools/autotest/common.py
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@ -8014,6 +8014,29 @@ switch value'''
def accelcal(self):
ex = None
try:
# setup with pre-existing accel offsets, to show that existing offsets don't
# adversely affect a new cal
pre_aofs = [Vector3(2.8, 1.2, 1.7),
Vector3(0.2, -0.9, 2.9)]
pre_ascale = [Vector3(0.95, 1.2, 0.98),
Vector3(1.1, 1.0, 0.93)]
aofs = [Vector3(0.7, -0.3, 1.8),
Vector3(-2.1, 1.9, 2.3)]
ascale = [Vector3(0.98, 1.12, 1.05),
Vector3(1.11, 0.98, 0.96)]
param_map = [("INS_ACCOFFS", "SIM_ACC1_BIAS", pre_aofs[0], aofs[0]),
("INS_ACC2OFFS", "SIM_ACC2_BIAS", pre_aofs[1], aofs[1]),
("INS_ACCSCAL", "SIM_ACC1_SCAL", pre_ascale[0], ascale[0]),
("INS_ACC2SCAL", "SIM_ACC2_SCAL", pre_ascale[1], ascale[1])]
axes = ['X','Y','Z']
# form the pre-calibration params
initial_params = {}
for (ins_prefix, sim_prefix, pre_value, post_value) in param_map:
for axis in axes:
initial_params[ins_prefix+"_"+axis] = getattr(pre_value,axis.lower())
initial_params[sim_prefix+"_"+axis] = getattr(post_value,axis.lower())
self.set_parameters(initial_params)
self.customise_SITL_commandline(["-M", "calibration"])
self.mavproxy_load_module("sitl_calibration")
self.mavproxy_load_module("calibration")
@ -8028,13 +8051,26 @@ switch value'''
"nose DOWN",
"nose UP",
"on its BACK",
]:
]:
timeout = 2
self.mavproxy.expect("Place vehicle %s and press any key." % wanted, timeout=timeout)
self.mavproxy.expect("sitl_accelcal: sending attitude, please wait..", timeout=timeout)
self.mavproxy.expect("sitl_accelcal: attitude detected, please press any key..", timeout=timeout)
self.mavproxy.send("\n")
self.mavproxy.expect("APM: Calibration successful", timeout=timeout)
self.fetch_parameters()
self.drain_mav()
self.progress("Checking results")
accuracy_pct = 1.0
for (ins_prefix, sim_prefix, pre_value, post_value) in param_map:
for axis in axes:
pname = ins_prefix+"_"+axis
v = self.mav.param(pname)
expected_v = getattr(post_value,axis.lower())
error_pct = 100.0 * abs(v - expected_v) / abs(expected_v)
if error_pct > accuracy_pct:
raise NotAchievedException("Incorrect value %.4f for %s should be %.4f" % (v, pname, expected_v))
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))