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Tools: autotest: add check that GPS is good before arming

This commit is contained in:
Peter Barker 2019-03-13 09:05:40 +11:00 committed by Peter Barker
parent 72aeb26e86
commit 841c222a12
1 changed files with 24 additions and 2 deletions
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26
Tools/autotest/common.py
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@ -1588,11 +1588,33 @@ class AutoTest(ABC):
# self.mav.flightmode, mode))
self.progress("Got mode %s" % mode)
def wait_gps_sys_status_not_present_or_enabled_and_healthy(self, timeout=30):
self.progress("Waiting for GPS health")
tstart = self.get_sim_time_cached()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise AutoTestTimeoutException("GPS status bits did not become good")
m = self.mav.recv_match(type='SYS_STATUS', blocking=True, timeout=1)
if m is None:
continue
if (not (m.onboard_control_sensors_present & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS)):
self.progress("GPS not present")
return
if (not (m.onboard_control_sensors_enabled & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS)):
self.progress("GPS not enabled")
continue
if (not (m.onboard_control_sensors_health & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS)):
self.progress("GPS not healthy")
continue
self.progress("GPS healthy")
return
def wait_ready_to_arm(self, timeout=None, require_absolute=True):
# wait for EKF checks to pass
self.progress("Waiting for ready to arm")
return self.wait_ekf_happy(timeout=timeout,
require_absolute=require_absolute)
self.wait_ekf_happy(timeout=timeout, require_absolute=require_absolute)
if require_absolute:
self.wait_gps_sys_status_not_present_or_enabled_and_healthy()
def wait_heartbeat(self, *args, **x):
'''as opposed to mav.wait_heartbeat, raises an exception on timeout'''