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autotest: use new learn param setup

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This commit is contained in:
Andrew Tridgell 2021-01-16 12:23:36 +11:00 committed by Peter Barker
parent 8caea96ab1
commit 84dda13b42
1 changed files with 4 additions and 8 deletions
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12
Tools/autotest/arduplane.py
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@ -1955,19 +1955,15 @@ class AutoTestPlane(AutoTest):
self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
0,0,0,0,4,0,0,
timeout=5)
self.set_parameter("SIM_IMUT_FIXED", 3)
self.set_parameter("INS_TCAL1_ENABLE", 2)
self.set_parameter("INS_TCAL2_ENABLE", 2)
self.fetch_parameters()
self.set_parameters({"INS_TCAL1_TMAX" : 42,
self.set_parameters({"SIM_IMUT_FIXED" : 0,
"INS_TCAL1_ENABLE" : 2,
"INS_TCAL1_TMAX" : 42,
"INS_TCAL2_ENABLE" : 2,
"INS_TCAL2_TMAX" : 42,
"INS_TCAL1_TMIN" : 15,
"INS_TCAL2_TMIN" : 15,
"SIM_SPEEDUP" : 200})
self.mavproxy.send("set streamrate 1\n")
self.set_parameter("LOG_DISARMED", 1)
self.reboot_sitl()
self.set_parameter("SIM_IMUT_FIXED", 0)
self.progress("Waiting for IMU temperature")
tstart = self.get_sim_time()