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Tools: make MAG params consistent names

This commit is contained in:
Henry Wurzburg 2023-01-16 08:46:43 -06:00 committed by Andrew Tridgell
parent 509d4b7fbf
commit 8806088404
1 changed files with 24 additions and 24 deletions
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48
Tools/autotest/common.py
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@ -8032,9 +8032,9 @@ Also, ignores heartbeats not from our target system'''
)
self.progress("zeroed mag parameters")
params = [
[("SIM_MAG_OFS_X", "COMPASS_OFS_X", 0),
("SIM_MAG_OFS_Y", "COMPASS_OFS_Y", 0),
("SIM_MAG_OFS_Z", "COMPASS_OFS_Z", 0), ],
[("SIM_MAG1_OFS1_X", "COMPASS_OFS_X", 0),
("SIM_MAG1_OFS1_Y", "COMPASS_OFS_Y", 0),
("SIM_MAG1_OFS1_Z", "COMPASS_OFS_Z", 0), ],
]
for count in range(2, compass_count + 1):
params += [
@ -8048,12 +8048,12 @@ Also, ignores heartbeats not from our target system'''
self.progress("Forty twoing Mag DIA and ODI parameters")
self.get_sim_time()
params = [
[("SIM_MAG_DIA_X", "COMPASS_DIA_X", 42.0),
("SIM_MAG_DIA_Y", "COMPASS_DIA_Y", 42.0),
("SIM_MAG_DIA_Z", "COMPASS_DIA_Z", 42.0),
("SIM_MAG_ODI_X", "COMPASS_ODI_X", 42.0),
("SIM_MAG_ODI_Y", "COMPASS_ODI_Y", 42.0),
("SIM_MAG_ODI_Z", "COMPASS_ODI_Z", 42.0), ],
[("SIM_MAG1_DIA_X", "COMPASS_DIA_X", 42.0),
("SIM_MAG1_DIA_Y", "COMPASS_DIA_Y", 42.0),
("SIM_MAG1_DIA_Z", "COMPASS_DIA_Z", 42.0),
("SIM_MAG1_ODI_X", "COMPASS_ODI_X", 42.0),
("SIM_MAG1_ODI_Y", "COMPASS_ODI_Y", 42.0),
("SIM_MAG1_ODI_Z", "COMPASS_ODI_Z", 42.0), ],
]
for count in range(2, compass_count + 1):
params += [
@ -8132,15 +8132,15 @@ Also, ignores heartbeats not from our target system'''
MAG_DIA = 1.0
MAG_ODI = 0.004
params += [
[("SIM_MAG_OFS_X", "COMPASS_OFS_X", MAG_OFS),
("SIM_MAG_OFS_Y", "COMPASS_OFS_Y", MAG_OFS + 100),
("SIM_MAG_OFS_Z", "COMPASS_OFS_Z", MAG_OFS + 200),
("SIM_MAG_DIA_X", "COMPASS_DIA_X", MAG_DIA),
("SIM_MAG_DIA_Y", "COMPASS_DIA_Y", MAG_DIA + 0.1),
("SIM_MAG_DIA_Z", "COMPASS_DIA_Z", MAG_DIA + 0.2),
("SIM_MAG_ODI_X", "COMPASS_ODI_X", MAG_ODI),
("SIM_MAG_ODI_Y", "COMPASS_ODI_Y", MAG_ODI + 0.001),
("SIM_MAG_ODI_Z", "COMPASS_ODI_Z", MAG_ODI + 0.001), ],
[("SIM_MAG1_OFS_X", "COMPASS_OFS_X", MAG_OFS),
("SIM_MAG1_OFS_Y", "COMPASS_OFS_Y", MAG_OFS + 100),
("SIM_MAG1_OFS_Z", "COMPASS_OFS_Z", MAG_OFS + 200),
("SIM_MAG1_DIA_X", "COMPASS_DIA_X", MAG_DIA),
("SIM_MAG1_DIA_Y", "COMPASS_DIA_Y", MAG_DIA + 0.1),
("SIM_MAG1_DIA_Z", "COMPASS_DIA_Z", MAG_DIA + 0.2),
("SIM_MAG1_ODI_X", "COMPASS_ODI_X", MAG_ODI),
("SIM_MAG1_ODI_Y", "COMPASS_ODI_Y", MAG_ODI + 0.001),
("SIM_MAG1_ODI_Z", "COMPASS_ODI_Z", MAG_ODI + 0.001), ],
]
for count in range(2, compass_count + 1):
params += [
@ -8171,7 +8171,7 @@ Also, ignores heartbeats not from our target system'''
self.progress("Setting SITL Magnetometer model value")
self.set_parameter("COMPASS_AUTO_ROT", 0)
# MAG_ORIENT = 4
# self.set_parameter("SIM_MAG_ORIENT", MAG_ORIENT)
# self.set_parameter("SIM_MAG1_ORIENT", MAG_ORIENT)
# for count in range(2, compass_count + 1):
# self.set_parameter("SIM_MAG%d_ORIENT" % count, MAG_ORIENT * (count % 41))
# # set compass external to check that orientation is found and auto set
@ -8316,7 +8316,7 @@ Also, ignores heartbeats not from our target system'''
if m.get_type() == "MAG_CAL_REPORT":
if report_get[m.compass_id] == 0:
self.progress("Report: %s" % self.dump_message_verbose(m))
param_names = ["SIM_MAG_ORIENT"]
param_names = ["SIM_MAG1_ORIENT"]
for i in range(2, compass_tnumber+1):
param_names.append("SIM_MAG%u_ORIENT" % i)
for param_name in param_names:
@ -8361,7 +8361,7 @@ Also, ignores heartbeats not from our target system'''
timeout=20,
)
self.check_mag_parameters(params, compass_tnumber)
self.verify_parameter_values({"COMPASS_ORIENT": self.get_parameter("SIM_MAG_ORIENT")})
self.verify_parameter_values({"COMPASS_ORIENT": self.get_parameter("SIM_MAG1_ORIENT")})
for count in range(2, compass_tnumber + 1):
self.verify_parameter_values({"COMPASS_ORIENT%d" % count: self.get_parameter("SIM_MAG%d_ORIENT" % count)})
self.try_arm(False, "Compass calibrated requires reboot")
@ -8631,9 +8631,9 @@ Also, ignores heartbeats not from our target system'''
"COMPASS_ODI3_Z": 0,
}
self.set_parameters({
"SIM_MAG_OFS_X": MAG_OFS_X,
"SIM_MAG_OFS_Y": MAG_OFS_Y,
"SIM_MAG_OFS_Z": MAG_OFS_Z,
"SIM_MAG1_OFS_X": MAG_OFS_X,
"SIM_MAG1_OFS_Y": MAG_OFS_Y,
"SIM_MAG1_OFS_Z": MAG_OFS_Z,
"SIM_MAG2_OFS_X": MAG_OFS_X,
"SIM_MAG2_OFS_Y": MAG_OFS_Y,