mirror of https://github.com/ArduPilot/ardupilot
autotest: flake8 compliance for arduplane.py
This commit is contained in:
Peter Barker
Peter Barker
parent
78aa729b90
commit
628a3843b2
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@ -1,6 +1,11 @@
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#!/usr/bin/env python
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# Fly ArduPlane in SITL
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'''
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Fly ArduPlane in SITL
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AP_FLAKE8_CLEAN
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'''
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from __future__ import print_function
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import math
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import os
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@ -557,8 +562,8 @@ class AutoTestPlane(AutoTest):
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0,
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0,
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0,
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int(loc.lat*1e7),
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int(loc.lng*1e7),
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int(loc.lat * 1e7),
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int(loc.lng * 1e7),
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new_alt, # alt
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frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
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)
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@ -567,7 +572,7 @@ class AutoTestPlane(AutoTest):
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self.fly_home_land_and_disarm()
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def fly_deepstall(self):
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# self.fly_deepstall_absolute()
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# self.fly_deepstall_absolute()
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self.fly_deepstall_relative()
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def fly_deepstall_absolute(self):
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@ -634,13 +639,13 @@ class AutoTestPlane(AutoTest):
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0,
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0,
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0,
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12345, # lat*1e7
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12345, # lon*1e7
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12345, # lat* 1e7
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12345, # lon* 1e7
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100 # alt
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)
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self.delay_sim_time(10)
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self.progress("Ensuring initial speed is known and relatively constant")
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initial_speed = 21.5;
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initial_speed = 21.5
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timeout = 10
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tstart = self.get_sim_time()
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while True:
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@ -702,12 +707,14 @@ class AutoTestPlane(AutoTest):
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def fly_home_land_and_disarm(self, timeout=120):
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filename = "flaps.txt"
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self.progress("Using %s to fly home" % filename)
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num_wp = self.load_mission(filename)
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self.load_mission(filename)
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self.change_mode("AUTO")
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self.mavproxy.send('wp set 7\n')
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self.drain_mav()
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# TODO: reflect on file to find this magic waypoint number?
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# self.wait_waypoint(7, num_wp-1, timeout=500) # we tend to miss the final waypoint by a fair bit, and this is probably too noisy anyway?
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# self.wait_waypoint(7, num_wp-1, timeout=500) # we
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# tend to miss the final waypoint by a fair bit, and
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# this is probably too noisy anyway?
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self.wait_disarmed(timeout=timeout)
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def fly_flaps(self):
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@ -865,7 +872,8 @@ class AutoTestPlane(AutoTest):
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self.context_collect("HEARTBEAT")
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self.set_parameter("SIM_RC_FAIL", 2) # throttle-to-950
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self.wait_mode('RTL') # long failsafe
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if (not self.get_mode_from_mode_mapping("CIRCLE") in [x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]):
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if (not self.get_mode_from_mode_mapping("CIRCLE") in
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[x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]):
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raise NotAchievedException("Did not go via circle mode")
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self.progress("Ensure we've had our throttle squashed to 950")
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self.wait_rc_channel_value(3, 950)
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@ -902,7 +910,8 @@ class AutoTestPlane(AutoTest):
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self.context_collect("HEARTBEAT")
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self.set_parameter("SIM_RC_FAIL", 1) # no-pulses
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self.wait_mode('RTL') # long failsafe
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if (not self.get_mode_from_mode_mapping("CIRCLE") in [x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]):
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if (not self.get_mode_from_mode_mapping("CIRCLE") in
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[x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]):
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raise NotAchievedException("Did not go via circle mode")
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self.drain_mav_unparsed()
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m = self.mav.recv_match(type='SYS_STATUS', blocking=True)
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@ -1035,10 +1044,11 @@ class AutoTestPlane(AutoTest):
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m = self.mav.recv_match(type='SYS_STATUS', blocking=True, timeout=1)
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if m is None:
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raise NotAchievedException("Did not receive SYS_STATUS")
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tests = [ ( "present", present, m.onboard_control_sensors_present ),
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( "enabled", enabled, m.onboard_control_sensors_enabled ),
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( "health", health, m.onboard_control_sensors_health ),
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]
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tests = [
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("present", present, m.onboard_control_sensors_present),
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("enabled", enabled, m.onboard_control_sensors_enabled),
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("health", health, m.onboard_control_sensors_health),
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]
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bit = mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE
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for test in tests:
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(name, want, field) = test
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@ -1119,7 +1129,7 @@ class AutoTestPlane(AutoTest):
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self.load_fence("CMAC-fence.txt")
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m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=2)
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if m is not None:
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raise NotAchievedException("Got FENCE_STATUS unexpectedly");
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raise NotAchievedException("Got FENCE_STATUS unexpectedly")
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self.drain_mav_unparsed()
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self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_NONE) # report only
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self.assert_fence_sys_status(False, False, True)
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@ -1130,7 +1140,7 @@ class AutoTestPlane(AutoTest):
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self.assert_fence_sys_status(True, True, True)
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m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=2)
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if m is None:
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raise NotAchievedException("Did not get FENCE_STATUS");
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raise NotAchievedException("Did not get FENCE_STATUS")
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if m.breach_status:
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raise NotAchievedException("Breached fence unexpectedly (%u)" %
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(m.breach_status))
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@ -1192,7 +1202,7 @@ class AutoTestPlane(AutoTest):
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raise NotAchievedException("Did not breach fence")
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m = self.mav.recv_match(type='FENCE_STATUS', blocking=True, timeout=2)
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if m is None:
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raise NotAchievedException("Did not get FENCE_STATUS");
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raise NotAchievedException("Did not get FENCE_STATUS")
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if m.breach_status == 0:
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continue
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@ -1367,6 +1377,7 @@ class AutoTestPlane(AutoTest):
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self.simstate = None
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self.last_print = 0
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self.max_divergence = 0
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def validate_global_position_int_against_simstate(mav, m):
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if m.get_type() == 'GLOBAL_POSITION_INT':
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self.gpi = m
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@ -1406,8 +1417,8 @@ class AutoTestPlane(AutoTest):
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mavutil.mavlink.MAV_DO_REPOSITION_FLAGS_CHANGE_MODE,
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0,
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0,
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int(loc.lat*1e7),
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int(loc.lng*1e7),
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int(loc.lat * 1e7),
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int(loc.lng * 1e7),
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100, # alt
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frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
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)
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@ -1512,7 +1523,9 @@ class AutoTestPlane(AutoTest):
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if gpi is None:
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raise NotAchievedException("Did not receive GLOBAL_POSITION_INT message")
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if abs(rf.distance - gpi.relative_alt/1000.0) > 3:
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raise NotAchievedException("rangefinder alt (%s) disagrees with global-position-int.relative_alt (%s)" % (rf.distance, gpi.relative_alt/1000.0))
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raise NotAchievedException(
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"rangefinder alt (%s) disagrees with global-position-int.relative_alt (%s)" %
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(rf.distance, gpi.relative_alt/1000.0))
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self.wait_statustext("Auto disarmed", timeout=60)
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self.progress("Ensure RFND messages in log")
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@ -1544,7 +1557,6 @@ class AutoTestPlane(AutoTest):
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self.change_mode("FBWA") # we don't update PIDs in MANUAL
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super(AutoTestPlane, self).test_pid_tuning()
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def test_setting_modes_via_auxswitches(self):
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self.set_parameter("FLTMODE1", 1) # circle
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self.set_rc(8, 950)
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@ -1590,19 +1602,20 @@ class AutoTestPlane(AutoTest):
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def test_adsb_send_threatening_adsb_message(self, here):
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self.progress("Sending ABSD_VEHICLE message")
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self.mav.mav.adsb_vehicle_send(37, # ICAO address
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int(here.lat * 1e7),
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int(here.lng * 1e7),
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mavutil.mavlink.ADSB_ALTITUDE_TYPE_PRESSURE_QNH,
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int(here.alt*1000 + 10000), # 10m up
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0, # heading in cdeg
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0, # horizontal velocity cm/s
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0, # vertical velocity cm/s
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"bob".encode("ascii"), # callsign
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mavutil.mavlink.ADSB_EMITTER_TYPE_LIGHT,
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1, # time since last communication
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65535, # flags
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17 # squawk
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self.mav.mav.adsb_vehicle_send(
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37, # ICAO address
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int(here.lat * 1e7),
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int(here.lng * 1e7),
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mavutil.mavlink.ADSB_ALTITUDE_TYPE_PRESSURE_QNH,
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int(here.alt*1000 + 10000), # 10m up
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0, # heading in cdeg
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0, # horizontal velocity cm/s
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0, # vertical velocity cm/s
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"bob".encode("ascii"), # callsign
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mavutil.mavlink.ADSB_EMITTER_TYPE_LIGHT,
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1, # time since last communication
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65535, # flags
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17 # squawk
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)
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def test_adsb(self):
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@ -1633,19 +1646,20 @@ class AutoTestPlane(AutoTest):
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self.wait_mode("RTL")
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self.progress("Sending far-away ABSD_VEHICLE message")
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self.mav.mav.adsb_vehicle_send(37, # ICAO address
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int(here.lat+1 * 1e7),
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int(here.lng * 1e7),
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mavutil.mavlink.ADSB_ALTITUDE_TYPE_PRESSURE_QNH,
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int(here.alt*1000 + 10000), # 10m up
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0, # heading in cdeg
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0, # horizontal velocity cm/s
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0, # vertical velocity cm/s
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"bob".encode("ascii"), # callsign
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mavutil.mavlink.ADSB_EMITTER_TYPE_LIGHT,
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1, # time since last communication
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65535, # flags
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17 # squawk
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self.mav.mav.adsb_vehicle_send(
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37, # ICAO address
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int(here.lat+1 * 1e7),
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int(here.lng * 1e7),
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mavutil.mavlink.ADSB_ALTITUDE_TYPE_PRESSURE_QNH,
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int(here.alt*1000 + 10000), # 10m up
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0, # heading in cdeg
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0, # horizontal velocity cm/s
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0, # vertical velocity cm/s
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"bob".encode("ascii"), # callsign
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mavutil.mavlink.ADSB_EMITTER_TYPE_LIGHT,
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1, # time since last communication
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65535, # flags
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17 # squawk
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)
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self.wait_for_collision_threat_to_clear()
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self.change_mode("FBWA")
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@ -1689,8 +1703,8 @@ class AutoTestPlane(AutoTest):
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0, # p2
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0, # p3
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0, # p4
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int(loc.lat *1e7), # latitude
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int(loc.lng *1e7), # longitude
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int(loc.lat * 1e7), # latitude
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int(loc.lng * 1e7), # longitude
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loc.alt, # altitude
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mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
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m = self.mav.recv_match(type='MISSION_ACK', blocking=True, timeout=5)
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@ -1713,8 +1727,8 @@ class AutoTestPlane(AutoTest):
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0, # p2
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0, # p3
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0, # p4
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int(loc.lat *1e7), # latitude
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int(loc.lng *1e7), # longitude
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int(loc.lat * 1e7), # latitude
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int(loc.lng * 1e7), # longitude
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desired_relative_alt, # altitude
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mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
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m = self.mav.recv_match(type='MISSION_ACK', blocking=True, timeout=5)
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@ -1796,16 +1810,16 @@ class AutoTestPlane(AutoTest):
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def fly_soaring(self):
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model="plane-soaring"
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model = "plane-soaring"
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self.customise_SITL_commandline([],
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model=model,
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defaults_filepath=self.model_defaults_filepath("ArduPlane",model),
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wipe=True)
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self.customise_SITL_commandline(
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[],
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model=model,
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defaults_filepath=self.model_defaults_filepath("ArduPlane", model),
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wipe=True)
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self.load_mission('CMAC-soar.txt')
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self.mavproxy.send("wp set 1\n")
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self.change_mode('AUTO')
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self.wait_ready_to_arm()
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@ -1815,21 +1829,21 @@ class AutoTestPlane(AutoTest):
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rc_chan = 0
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for i in range(8):
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rcx_option = self.get_parameter('RC{0}_OPTION'.format(i+1))
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if rcx_option==88:
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rc_chan = i+1;
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if rcx_option == 88:
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rc_chan = i+1
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break
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if rc_chan==0:
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if rc_chan == 0:
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raise NotAchievedException("Did not find soaring enable channel option.")
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self.set_rc_from_map({
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rc_chan: 1900,
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3: 1500, # Use trim airspeed.
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});
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})
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# Wait to detect thermal
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self.progress("Waiting for thermal")
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self.wait_mode('THERMAL',timeout=600)
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self.wait_mode('THERMAL', timeout=600)
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# Wait to climb to SOAR_ALT_MAX
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self.progress("Waiting for climb to max altitude")
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@ -1843,7 +1857,6 @@ class AutoTestPlane(AutoTest):
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# Disable thermals
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self.set_parameter("SIM_THML_SCENARI", 0)
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# Wait to descend to SOAR_ALT_MIN
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self.progress("Waiting for glide to min altitude")
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alt_min = self.get_parameter('SOAR_ALT_MIN')
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@ -1867,7 +1880,7 @@ class AutoTestPlane(AutoTest):
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self.set_parameter("SOAR_ENABLE", 0)
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self.delay_sim_time(10)
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#And reenable. This should force throttle-down
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# And reenable. This should force throttle-down
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self.set_parameter("SOAR_ENABLE", 1)
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self.delay_sim_time(10)
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@ -1888,7 +1901,7 @@ class AutoTestPlane(AutoTest):
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# Wait to get back to waypoint before thermal.
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self.progress("Waiting to get back to position")
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self.wait_current_waypoint(3,timeout=1200)
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self.wait_current_waypoint(3, timeout=1200)
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# Enable soaring with mode changes suppressed)
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self.set_rc(rc_chan, 1500)
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@ -1897,7 +1910,7 @@ class AutoTestPlane(AutoTest):
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self.wait_servo_channel_value(3, 1200, timeout=2, comparator=operator.lt)
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self.progress("Waiting for next WP with no thermalling")
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self.wait_waypoint(4,4,timeout=1200,max_dist=120)
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self.wait_waypoint(4, 4, timeout=1200, max_dist=120)
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# Disarm
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self.disarm_vehicle()
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@ -1933,7 +1946,7 @@ class AutoTestPlane(AutoTest):
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self.reboot_sitl()
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self.progress("Running accelcal")
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self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
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0,0,0,0,4,0,0,
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0, 0, 0, 0, 4, 0, 0,
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timeout=5)
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self.wait_ready_to_arm()
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@ -2001,20 +2014,20 @@ class AutoTestPlane(AutoTest):
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self.set_parameter("SIM_IMUT_FIXED", 12)
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self.progress("Running accel cal")
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self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
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0,0,0,0,4,0,0,
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0, 0, 0, 0, 4, 0, 0,
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timeout=5)
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self.progress("Running gyro cal")
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self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
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0,0,0,0,1,0,0,
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0, 0, 0, 0, 1, 0, 0,
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timeout=5)
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self.set_parameters({
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"SIM_IMUT_FIXED" : 0,
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"INS_TCAL1_ENABLE" : 2,
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"INS_TCAL1_TMAX" : 42,
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"INS_TCAL2_ENABLE" : 2,
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"INS_TCAL2_TMAX" : 42,
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"SIM_SPEEDUP" : 200,
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})
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"SIM_IMUT_FIXED": 0,
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"INS_TCAL1_ENABLE": 2,
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"INS_TCAL1_TMAX": 42,
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"INS_TCAL2_ENABLE": 2,
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"INS_TCAL2_TMAX": 42,
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"SIM_SPEEDUP": 200,
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})
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self.set_streamrate(1)
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self.set_parameter("LOG_DISARMED", 1)
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self.reboot_sitl()
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@ -2034,7 +2047,7 @@ class AutoTestPlane(AutoTest):
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self.progress("Testing with compensation enabled")
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test_temperatures = range(10,45,5)
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test_temperatures = range(10, 45, 5)
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corrected = {}
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uncorrected = {}
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@ -2053,7 +2066,7 @@ class AutoTestPlane(AutoTest):
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accel = self.get_accelvec(m)
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gyro = self.get_gyrovec(m)
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accel2 = accel + Vector3(0,0,9.81)
|
||||
accel2 = accel + Vector3(0, 0, 9.81)
|
||||
|
||||
corrected[temperature] = (accel2, gyro)
|
||||
|
||||
|
|
@ -2081,7 +2094,7 @@ class AutoTestPlane(AutoTest):
|
|||
accel = self.get_accelvec(m)
|
||||
gyro = self.get_gyrovec(m)
|
||||
|
||||
accel2 = accel + Vector3(0,0,9.81)
|
||||
accel2 = accel + Vector3(0, 0, 9.81)
|
||||
uncorrected[temperature] = (accel2, gyro)
|
||||
|
||||
for temp in test_temperatures:
|
||||
|
|
@ -2093,7 +2106,7 @@ class AutoTestPlane(AutoTest):
|
|||
(accel, gyro) = uncorrected[temp]
|
||||
self.progress("Uncorrected gyro at %.1f %s" % (temp, gyro))
|
||||
self.progress("Uncorrected accel at %.1f %s" % (temp, accel))
|
||||
|
||||
|
||||
bad_value = False
|
||||
for temp in test_temperatures:
|
||||
(accel, gyro) = corrected[temp]
|
||||
|
|
@ -2113,7 +2126,6 @@ class AutoTestPlane(AutoTest):
|
|||
if not bad_value:
|
||||
raise NotAchievedException("uncompensated IMUs did not vary enough")
|
||||
|
||||
|
||||
def ekf_lane_switch(self):
|
||||
|
||||
self.context_push()
|
||||
|
|
@ -2139,6 +2151,7 @@ class AutoTestPlane(AutoTest):
|
|||
self.reboot_sitl()
|
||||
|
||||
self.lane_switches = []
|
||||
|
||||
# add an EKF lane switch hook
|
||||
def statustext_hook(mav, message):
|
||||
if message.get_type() != 'STATUSTEXT':
|
||||
|
|
@ -2147,7 +2160,7 @@ class AutoTestPlane(AutoTest):
|
|||
if not message.text.startswith("EKF3 lane switch "):
|
||||
return
|
||||
newlane = int(message.text[-1])
|
||||
self.lane_switches.append(newlane)
|
||||
self.lane_switches.append(newlane)
|
||||
self.install_message_hook(statustext_hook)
|
||||
|
||||
# get flying
|
||||
|
|
@ -2155,14 +2168,18 @@ class AutoTestPlane(AutoTest):
|
|||
self.change_mode('CIRCLE')
|
||||
|
||||
try:
|
||||
#####################################################################################################################################################
|
||||
###################################################################
|
||||
self.progress("Checking EKF3 Lane Switching trigger from all sensors")
|
||||
#####################################################################################################################################################
|
||||
###################################################################
|
||||
self.start_subtest("ACCELEROMETER: Change z-axis offset")
|
||||
# create an accelerometer error by changing the Z-axis offset
|
||||
self.context_collect("STATUSTEXT")
|
||||
old_parameter = self.get_parameter("INS_ACCOFFS_Z")
|
||||
self.wait_statustext(text="EKF3 lane switch", timeout=30, the_function=self.set_parameter("INS_ACCOFFS_Z", old_parameter + 5), check_context=True)
|
||||
self.wait_statustext(
|
||||
text="EKF3 lane switch",
|
||||
timeout=30,
|
||||
the_function=self.set_parameter("INS_ACCOFFS_Z", old_parameter + 5),
|
||||
check_context=True)
|
||||
if self.lane_switches != [1]:
|
||||
raise NotAchievedException("Expected lane switch 1, got %s" % str(self.lane_switches[-1]))
|
||||
# Cleanup
|
||||
|
|
@ -2170,13 +2187,17 @@ class AutoTestPlane(AutoTest):
|
|||
self.context_clear_collection("STATUSTEXT")
|
||||
self.wait_heading(0, accuracy=10, timeout=60)
|
||||
self.wait_heading(180, accuracy=10, timeout=60)
|
||||
#####################################################################################################################################################
|
||||
###################################################################
|
||||
self.start_subtest("BAROMETER: Freeze to last measured value")
|
||||
self.context_collect("STATUSTEXT")
|
||||
# create a barometer error by inhibiting any pressure change while changing altitude
|
||||
old_parameter = self.get_parameter("SIM_BAR2_FREEZE")
|
||||
self.set_parameter("SIM_BAR2_FREEZE", 1)
|
||||
self.wait_statustext(text="EKF3 lane switch", timeout=30, the_function=lambda: self.set_rc(2, 2000), check_context=True)
|
||||
self.wait_statustext(
|
||||
text="EKF3 lane switch",
|
||||
timeout=30,
|
||||
the_function=lambda: self.set_rc(2, 2000),
|
||||
check_context=True)
|
||||
if self.lane_switches != [1, 0]:
|
||||
raise NotAchievedException("Expected lane switch 0, got %s" % str(self.lane_switches[-1]))
|
||||
# Cleanup
|
||||
|
|
@ -2185,11 +2206,13 @@ class AutoTestPlane(AutoTest):
|
|||
self.context_clear_collection("STATUSTEXT")
|
||||
self.wait_heading(0, accuracy=10, timeout=60)
|
||||
self.wait_heading(180, accuracy=10, timeout=60)
|
||||
#####################################################################################################################################################
|
||||
###################################################################
|
||||
self.start_subtest("GPS: Apply GPS Velocity Error in NED")
|
||||
self.context_push()
|
||||
self.context_collect("STATUSTEXT")
|
||||
# create a GPS velocity error by adding a random 2m/s noise on each axis
|
||||
|
||||
# create a GPS velocity error by adding a random 2m/s
|
||||
# noise on each axis
|
||||
def sim_gps_verr():
|
||||
self.set_parameters({
|
||||
"SIM_GPS_VERR_X": self.get_parameter("SIM_GPS_VERR_X") + 2,
|
||||
|
|
@ -2204,12 +2227,16 @@ class AutoTestPlane(AutoTest):
|
|||
self.context_clear_collection("STATUSTEXT")
|
||||
self.wait_heading(0, accuracy=10, timeout=60)
|
||||
self.wait_heading(180, accuracy=10, timeout=60)
|
||||
#####################################################################################################################################################
|
||||
###################################################################
|
||||
self.start_subtest("MAGNETOMETER: Change X-Axis Offset")
|
||||
self.context_collect("STATUSTEXT")
|
||||
# create a magnetometer error by changing the X-axis offset
|
||||
old_parameter = self.get_parameter("SIM_MAG2_OFS_X")
|
||||
self.wait_statustext(text="EKF3 lane switch", timeout=30, the_function=self.set_parameter("SIM_MAG2_OFS_X", old_parameter + 150), check_context=True)
|
||||
self.wait_statustext(
|
||||
text="EKF3 lane switch",
|
||||
timeout=30,
|
||||
the_function=self.set_parameter("SIM_MAG2_OFS_X", old_parameter + 150),
|
||||
check_context=True)
|
||||
if self.lane_switches != [1, 0, 1, 0]:
|
||||
raise NotAchievedException("Expected lane switch 0, got %s" % str(self.lane_switches[-1]))
|
||||
# Cleanup
|
||||
|
|
@ -2217,14 +2244,16 @@ class AutoTestPlane(AutoTest):
|
|||
self.context_clear_collection("STATUSTEXT")
|
||||
self.wait_heading(0, accuracy=10, timeout=60)
|
||||
self.wait_heading(180, accuracy=10, timeout=60)
|
||||
#####################################################################################################################################################
|
||||
###################################################################
|
||||
self.start_subtest("AIRSPEED: Fail to constant value")
|
||||
self.context_push()
|
||||
self.context_collect("STATUSTEXT")
|
||||
# create an airspeed sensor error by freezing to the current airspeed then changing the groundspeed
|
||||
# create an airspeed sensor error by freezing to the
|
||||
# current airspeed then changing the groundspeed
|
||||
old_parameter = self.get_parameter("SIM_ARSPD_FAIL")
|
||||
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
self.set_parameter("SIM_ARSPD_FAIL", m.airspeed)
|
||||
|
||||
def change_speed():
|
||||
self.change_mode("GUIDED")
|
||||
self.run_cmd_int(
|
||||
|
|
@ -2233,8 +2262,8 @@ class AutoTestPlane(AutoTest):
|
|||
0,
|
||||
0,
|
||||
0,
|
||||
12345, # lat*1e7
|
||||
12345, # lon*1e7
|
||||
12345, # lat* 1e7
|
||||
12345, # lon* 1e7
|
||||
50 # alt
|
||||
)
|
||||
self.delay_sim_time(5)
|
||||
|
|
@ -2258,21 +2287,25 @@ class AutoTestPlane(AutoTest):
|
|||
self.context_clear_collection("STATUSTEXT")
|
||||
self.wait_heading(0, accuracy=10, timeout=60)
|
||||
self.wait_heading(180, accuracy=10, timeout=60)
|
||||
#####################################################################################################################################################
|
||||
###################################################################
|
||||
self.progress("GYROSCOPE: Change Y-Axis Offset")
|
||||
self.context_collect("STATUSTEXT")
|
||||
# create a gyroscope error by changing the Y-axis offset
|
||||
old_parameter = self.get_parameter("INS_GYR2OFFS_Y")
|
||||
self.wait_statustext(text="EKF3 lane switch", timeout=30, the_function=self.set_parameter("INS_GYR2OFFS_Y", old_parameter + 1), check_context=True)
|
||||
self.wait_statustext(
|
||||
text="EKF3 lane switch",
|
||||
timeout=30,
|
||||
the_function=self.set_parameter("INS_GYR2OFFS_Y", old_parameter + 1),
|
||||
check_context=True)
|
||||
if self.lane_switches != [1, 0, 1, 0, 1, 0]:
|
||||
raise NotAchievedException("Expected lane switch 0, got %s" % str(self.lane_switches[-1]))
|
||||
# Cleanup
|
||||
self.set_parameter("INS_GYR2OFFS_Y", old_parameter)
|
||||
self.context_clear_collection("STATUSTEXT")
|
||||
#####################################################################################################################################################
|
||||
###################################################################
|
||||
|
||||
self.disarm_vehicle()
|
||||
|
||||
|
||||
except Exception as e:
|
||||
self.progress("Caught exception: %s" % self.get_exception_stacktrace(e))
|
||||
ex = e
|
||||
|
|
@ -2397,8 +2430,8 @@ class AutoTestPlane(AutoTest):
|
|||
self.test_large_missions),
|
||||
|
||||
("Soaring",
|
||||
"Test Soaring feature",
|
||||
self.fly_soaring),
|
||||
"Test Soaring feature",
|
||||
self.fly_soaring),
|
||||
|
||||
("Terrain",
|
||||
"Test terrain following in mission",
|
||||
|
|
@ -2407,7 +2440,7 @@ class AutoTestPlane(AutoTest):
|
|||
("ExternalAHRS",
|
||||
"Test external AHRS support",
|
||||
self.fly_external_AHRS),
|
||||
|
||||
|
||||
("Deadreckoning",
|
||||
"Test deadreckoning support",
|
||||
self.deadreckoning),
|
||||
|
|
|
|||
Loading…
Reference in New Issue