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autotest: tidy and correct ekf lane switching test

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Peter Barker 2021-01-18 12:41:39 +11:00 committed by Peter Barker
parent ba1973d343
commit 6865649b9b
1 changed files with 21 additions and 17 deletions
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38
Tools/autotest/arduplane.py
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@ -1897,18 +1897,20 @@ class AutoTestPlane(AutoTest):
ex = None
# new lane swtich available only with EK3
self.set_parameter("EK3_ENABLE", 1)
self.set_parameter("EK2_ENABLE", 0)
self.set_parameter("AHRS_EKF_TYPE", 3)
self.set_parameter("EK3_AFFINITY", 15) # enable affinity for all sensors
self.set_parameter("EK3_IMU_MASK", 3) # use only 2 IMUs
self.set_parameter("GPS_TYPE2", 1)
self.set_parameter("SIM_GPS2_DISABLE", 0)
self.set_parameter("SIM_BARO_COUNT", 2)
self.set_parameter("SIM_BAR2_DISABLE", 0)
self.set_parameter("ARSPD2_TYPE", 2)
self.set_parameter("ARSPD2_USE", 1)
self.set_parameter("ARSPD2_PIN", 2)
self.set_parameters({
"EK3_ENABLE": 1,
"EK2_ENABLE": 0,
"AHRS_EKF_TYPE": 3,
"EK3_AFFINITY": 15, # enable affinity for all sensors
"EK3_IMU_MASK": 3, # use only 2 IMUs
"GPS_TYPE2": 1,
"SIM_GPS2_DISABLE": 0,
"SIM_BARO_COUNT": 2,
"SIM_BAR2_DISABLE": 0,
"ARSPD2_TYPE": 2,
"ARSPD2_USE": 1,
"ARSPD2_PIN": 2,
})
# some parameters need reboot to take effect
self.reboot_sitl()
@ -1966,10 +1968,12 @@ class AutoTestPlane(AutoTest):
self.context_collect("STATUSTEXT")
# create a GPS velocity error by adding a random 2m/s noise on each axis
def sim_gps_verr():
self.set_parameter("SIM_GPS_VERR_X", self.get_parameter("SIM_GPS_VERR_X") + 2)
self.set_parameter("SIM_GPS_VERR_Y", self.get_parameter("SIM_GPS_VERR_Y") + 2)
self.set_parameter("SIM_GPS_VERR_Z", self.get_parameter("SIM_GPS_VERR_Z") + 2)
self.wait_statustext(text="EKF3 lane switch", timeout=30, the_function=sim_gps_verr(), check_context=True)
self.set_parameters({
"SIM_GPS_VERR_X": self.get_parameter("SIM_GPS_VERR_X") + 2,
"SIM_GPS_VERR_Y": self.get_parameter("SIM_GPS_VERR_Y") + 2,
"SIM_GPS_VERR_Z": self.get_parameter("SIM_GPS_VERR_Z") + 2,
})
self.wait_statustext(text="EKF3 lane switch", timeout=30, the_function=sim_gps_verr, check_context=True)
if self.lane_switches != [1, 0, 1]:
raise NotAchievedException("Expected lane switch 1, got %s" % str(self.lane_switches[-1]))
# Cleanup
@ -2022,7 +2026,7 @@ class AutoTestPlane(AutoTest):
0,
0
)
self.wait_statustext(text="EKF3 lane switch", timeout=30, the_function=change_speed(), check_context=True)
self.wait_statustext(text="EKF3 lane switch", timeout=30, the_function=change_speed, check_context=True)
if self.lane_switches != [1, 0, 1, 0, 1]:
raise NotAchievedException("Expected lane switch 1, got %s" % str(self.lane_switches[-1]))
# Cleanup