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Tools: added a MagFail test

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ensures that both EK2 and EK3 will failover to a new compass on
compass failure
This commit is contained in:
Andrew Tridgell 2020-08-28 12:51:31 +10:00
parent 3836b59041
commit 80ef6fa7f2
1 changed files with 48 additions and 0 deletions
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48
Tools/autotest/arducopter.py
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@ -1622,6 +1622,50 @@ class AutoTestCopter(AutoTest):
self.do_RTL()
# test_mag_fail - test failover of compass in EKF
def test_mag_fail(self):
# we want both EK2 and EK3
self.set_parameter("EK2_ENABLE", 1)
self.set_parameter("EK3_ENABLE", 1)
self.takeoff(10, mode="LOITER")
self.mavproxy.send('mode CIRCLE\n')
self.wait_mode('CIRCLE')
self.delay_sim_time(20)
self.progress("Failing first compass")
self.set_parameter("SIM_MAG1_FAIL", 1)
# we want for the message twice, one for EK2 and again for EK3
self.wait_statustext("IMU0 switching to compass 1")
self.wait_statustext("IMU0 switching to compass 1")
self.progress("compass switch 1 OK")
self.delay_sim_time(2)
self.progress("Failing 2nd compass")
self.set_parameter("SIM_MAG2_FAIL", 1)
self.wait_statustext("IMU0 switching to compass 2")
self.wait_statustext("IMU0 switching to compass 2")
self.progress("compass switch 2 OK")
self.delay_sim_time(2)
self.progress("Failing 3rd compass")
self.set_parameter("SIM_MAG3_FAIL", 1)
self.delay_sim_time(2)
self.set_parameter("SIM_MAG1_FAIL", 0)
self.wait_statustext("IMU0 switching to compass 0")
self.wait_statustext("IMU0 switching to compass 0")
self.progress("compass switch 0 OK")
self.do_RTL()
def wait_attitude(self, desroll=None, despitch=None, timeout=2, tolerance=10):
'''wait for an attitude (degrees)'''
if desroll is None and despitch is None:
@ -5361,6 +5405,10 @@ class AutoTestCopter(AutoTest):
"Fly CIRCLE mode",
self.fly_circle),
("MagFail",
"Test magnetometer failure",
self.test_mag_fail),
("OpticalFlowLimits",
"Fly Optical Flow limits",
self.fly_optical_flow_limits),