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autotest: tidy angle test

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This commit is contained in:
Peter Barker 2022-06-12 12:18:11 +10:00 committed by Peter Barker
parent 3097eb763e
commit 5eb2f6780e
1 changed files with 16 additions and 20 deletions
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36
Tools/autotest/arducopter.py
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@ -6140,10 +6140,11 @@ class AutoTestCopter(AutoTest):
tstart = self.get_sim_time()
last_send = 0
m = None
while True:
now = self.get_sim_time_cached()
if now - tstart > 100:
raise NotAchievedException("Did not get correct angle back")
raise NotAchievedException("Did not get correct angle back (last-message=%s)" % str(m))
if now - last_send > 0.1:
self.progress("ang=%f sending front=%f right=%f" %
@ -6179,25 +6180,20 @@ class AutoTestCopter(AutoTest):
def OBSTACLE_DISTANCE_3D(self):
self.context_push()
ex = None
try:
self.set_parameters({
"SERIAL5_PROTOCOL": 1,
"PRX_TYPE": 2,
})
self.reboot_sitl()
for angle in range(0, 360):
self.OBSTACLE_DISTANCE_3D_test_angle(angle)
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.disarm_vehicle(force=True)
self.set_parameters({
"SERIAL5_PROTOCOL": 1,
"PRX_TYPE": 2,
"SIM_SPEEDUP": 8, # much GCS interaction
})
self.reboot_sitl()
# need yaw estimate to stabilise:
self.wait_ekf_happy(require_absolute=True)
for angle in range(0, 360):
self.OBSTACLE_DISTANCE_3D_test_angle(angle)
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def fly_proximity_avoidance_test_corners(self):
self.start_subtest("Corners")
@ -8866,7 +8862,7 @@ class AutoTestCopter(AutoTest):
lambda: self.fly_stability_patch(30)), # 17s
("OBSTACLE_DISTANCE_3D",
"Test proximity avoidance slide behaviour in 3D",
"Check round-trip behaviour of distance sensors",
self.OBSTACLE_DISTANCE_3D), # ??s
("AC_Avoidance_Proximity",