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autotest: add basic sensor-health test for optical flow in Rover

This commit is contained in:
Peter Barker 2024-06-20 15:04:09 +10:00 committed by Peter Barker
parent e1a1d15f62
commit 75614b8c3b
1 changed files with 15 additions and 0 deletions
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15
Tools/autotest/rover.py
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@ -6901,6 +6901,20 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.set_parameter('FENCE_TYPE', 6)
self.assert_prearm_failure('vehicle outside fence', other_prearm_failures_fatal=False, timeout=120)
def OpticalFlow(self):
'''lightly test OpticalFlow'''
self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW, False, False, False, verbose=True)
self.context_push()
self.set_parameter("SIM_FLOW_ENABLE", 1)
self.set_parameter("FLOW_TYPE", 10)
self.reboot_sitl()
self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW, True, True, True, verbose=True)
self.context_pop()
self.reboot_sitl()
def tests(self):
'''return list of all tests'''
ret = super(AutoTestRover, self).tests()
@ -6991,6 +7005,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.MissionRetransfer,
self.FenceFullAndPartialTransfer,
self.MissionPolyEnabledPreArm,
self.OpticalFlow,
])
return ret