autotest: add simulator Hirth EFI

Tools/autotest/arduplane.py

@@ -8,7 +8,6 @@ from __future__ import print_function
 import math
 import os
 import signal
-import sys
 import time
 
 from pymavlink import quaternion
@@ -4199,24 +4198,81 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
 
         self.fly_home_land_and_disarm()
 
-    def MegaSquirt(self):
-        '''Test MegaSquirt EFI'''
+    def EFITest(self, efi_type, name, sim_name, check_fuel_flow=True):
+        '''method to be called by EFI tests'''
+        self.start_subtest("EFI Test for (%s)" % name)
         self.assert_not_receiving_message('EFI_STATUS')
         self.set_parameters({
-            'SIM_EFI_TYPE': 1,
-            'EFI_TYPE': 1,
+            'SIM_EFI_TYPE': efi_type,
+            'EFI_TYPE': efi_type,
             'SERIAL5_PROTOCOL': 24,
+            'RPM1_TYPE': 10,
         })
-        self.customise_SITL_commandline(["--uartF=sim:megasquirt"])
-        self.delay_sim_time(5)
-        m = self.assert_receive_message('EFI_STATUS')
-        mavutil.dump_message_verbose(sys.stdout, m)
-        if m.throttle_out != 0:
-            raise NotAchievedException("Expected zero throttle")
-        if m.health != 1:
-            raise NotAchievedException("Not healthy")
-        if m.intake_manifold_temperature < 20:
-            raise NotAchievedException("Bad intake manifold temperature")
+
+        self.customise_SITL_commandline(
+            ["--uartF=sim:%s" % sim_name,
+             ],
+        )
+        self.wait_ready_to_arm()
+
+        baro_m = self.assert_receive_message("SCALED_PRESSURE")
+        self.progress(self.dump_message_verbose(baro_m))
+        baro_temperature = baro_m.temperature / 100.0  # cDeg->deg
+        m = self.assert_received_message_field_values("EFI_STATUS", {
+            "throttle_out": 0,
+            "health": 1,
+        }, very_verbose=1)
+
+        if abs(baro_temperature - m.intake_manifold_temperature) > 1:
+            raise NotAchievedException(
+                "Bad intake manifold temperature (want=%f got=%f)" %
+                (baro_temperature, m.intake_manifold_temperature))
+
+        self.arm_vehicle()
+
+        self.set_rc(3, 1300)
+
+        tstart = self.get_sim_time()
+        while True:
+            now = self.get_sim_time_cached()
+            if now - tstart > 10:
+                raise NotAchievedException("RPM1 and EFI_STATUS.rpm did not match")
+            rpm_m = self.assert_receive_message("RPM", verbose=1)
+            want_rpm = 1000
+            if rpm_m.rpm1 < want_rpm:
+                continue
+
+            m = self.assert_receive_message("EFI_STATUS", verbose=1)
+            if abs(m.rpm - rpm_m.rpm1) > 100:
+                continue
+
+            break
+
+        self.progress("now we're started, check a few more values")
+        # note that megasquirt drver doesn't send throttle, so throttle_out is zero!
+        m = self.assert_received_message_field_values("EFI_STATUS", {
+            "health": 1,
+        }, very_verbose=1)
+        m = self.wait_message_field_values("EFI_STATUS", {
+            "throttle_position": 31,
+            "intake_manifold_temperature": 28,
+        }, very_verbose=1, epsilon=2)
+        if check_fuel_flow:
+            if abs(m.fuel_flow - 0.2) > 0.0001:
+                raise NotAchievedException("Expected fuel flow")
+
+        self.disarm_vehicle()
+
+    def MegaSquirt(self):
+        '''test MegaSquirt driver'''
+        self.EFITest(
+            1, "MegaSquirt", "megasquirt",
+            check_fuel_flow=False,
+        )
+
+    def Hirth(self):
+        '''Test Hirth EFI'''
+        self.EFITest(8, "Hirth", "hirth")
 
     def GlideSlopeThresh(self):
         '''Test rebuild glide slope if above and climbing'''
@@ -5313,6 +5369,7 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
             self.AUTOTUNE,
             self.AutotuneFiltering,
             self.MegaSquirt,
+            self.Hirth,
             self.MSP_DJI,
             self.SpeedToFly,
             self.GlideSlopeThresh,