mirror of https://github.com/ArduPilot/ardupilot
autotest: add tests for MAV_CMD_PREFLIGHT_CALIBRATION
This commit is contained in:
parent
6f80f8f200
commit
8b59ad9006
|
@ -4752,6 +4752,69 @@ class AutoTestPlane(AutoTest):
|
|||
)
|
||||
self.fly_home_land_and_disarm()
|
||||
|
||||
def _MAV_CMD_PREFLIGHT_CALIBRATION(self, command):
|
||||
self.context_push()
|
||||
self.start_subtest("Denied when armed")
|
||||
self.wait_ready_to_arm()
|
||||
self.arm_vehicle()
|
||||
command(
|
||||
mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
|
||||
p1=1,
|
||||
want_result=mavutil.mavlink.MAV_RESULT_FAILED,
|
||||
)
|
||||
self.disarm_vehicle()
|
||||
|
||||
self.context_collect('STATUSTEXT')
|
||||
|
||||
self.start_subtest("gyro cal")
|
||||
command(
|
||||
mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
|
||||
p1=1,
|
||||
)
|
||||
|
||||
self.start_subtest("baro cal")
|
||||
command(
|
||||
mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
|
||||
p3=1,
|
||||
)
|
||||
self.wait_statustext('Barometer calibration complete', check_context=True)
|
||||
|
||||
# accelcal skipped here, it is checked elsewhere
|
||||
|
||||
self.start_subtest("ins trim")
|
||||
command(
|
||||
mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
|
||||
p5=2,
|
||||
)
|
||||
|
||||
# enforced delay between cals:
|
||||
self.delay_sim_time(5)
|
||||
|
||||
self.start_subtest("simple accel cal")
|
||||
command(
|
||||
mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
|
||||
p5=4,
|
||||
)
|
||||
|
||||
self.start_subtest("force save accels")
|
||||
command(
|
||||
mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
|
||||
p5=76,
|
||||
)
|
||||
|
||||
self.start_subtest("force save compasses")
|
||||
command(
|
||||
mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
|
||||
p2=76,
|
||||
)
|
||||
|
||||
self.context_pop()
|
||||
|
||||
def MAV_CMD_PREFLIGHT_CALIBRATION(self):
|
||||
'''test MAV_CMD_PREFLIGHT_CALIBRATION mavlink handling'''
|
||||
self._MAV_CMD_PREFLIGHT_CALIBRATION(self.run_cmd)
|
||||
self._MAV_CMD_PREFLIGHT_CALIBRATION(self.run_cmd_int)
|
||||
|
||||
def tests(self):
|
||||
'''return list of all tests'''
|
||||
ret = super(AutoTestPlane, self).tests()
|
||||
|
@ -4843,6 +4906,7 @@ class AutoTestPlane(AutoTest):
|
|||
self.MODE_SWITCH_RESET,
|
||||
self.ExternalPositionEstimate,
|
||||
self.MAV_CMD_GUIDED_CHANGE_ALTITUDE,
|
||||
self.MAV_CMD_PREFLIGHT_CALIBRATION,
|
||||
])
|
||||
return ret
|
||||
|
||||
|
|
Loading…
Reference in New Issue