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autotest: add autotest for getting yaw from moving-baseline GPS setup

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This commit is contained in:
Peter Barker 2021-10-20 21:17:46 +11:00 committed by Peter Barker
parent 2f90abd7ea
commit 99126d3cc7
2 changed files with 30 additions and 2 deletions
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21
Tools/autotest/arducopter.py
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@ -7328,6 +7328,23 @@ class AutoTestCopter(AutoTest):
self.set_parameter('GPS_TYPE', 1)
self.do_RTL()
def GPSForYaw(self):
self.load_default_params_file("copter-gps-for-yaw.parm")
self.reboot_sitl()
ex = None
try:
self.wait_gps_fix_type_gte(6, message_type="GPS2_RAW", verbose=True)
m = self.assert_receive_message("GPS2_RAW")
self.progress(self.dump_message_verbose(m))
if m.yaw == 0:
raise NotAchievedException("Expected to get GPS-from-yaw")
self.wait_ready_to_arm()
except Exception as e:
self.print_exception_caught(e)
ex = e
if ex is not None:
raise ex
# a wrapper around all the 1A,1B,1C..etc tests for travis
def tests1(self):
ret = ([])
@ -7945,6 +7962,10 @@ class AutoTestCopter(AutoTest):
"Change speed (down) during misison",
self.WPNAV_SPEED_DN),
Test("GPSForYaw",
"Moving baseline GPS yaw",
self.GPSForYaw),
("DefaultIntervalsFromFiles",
"Test setting default mavlink message intervals from files",
self.DefaultIntervalsFromFiles),

11
Tools/autotest/common.py
View File

@ -9385,13 +9385,15 @@ switch value'''
self.drain_mav()
self.delay_sim_time(0.5)
def wait_gps_fix_type_gte(self, fix_type, timeout=30):
def wait_gps_fix_type_gte(self, fix_type, timeout=30, message_type="GPS_RAW_INT", verbose=False):
tstart = self.get_sim_time()
while True:
now = self.get_sim_time_cached()
if now - tstart > timeout:
raise AutoTestTimeoutException("Did not get good GPS lock")
m = self.mav.recv_match(type="GPS_RAW_INT", blocking=True, timeout=0.1)
m = self.mav.recv_match(type=message_type, blocking=True, timeout=0.1)
if verbose:
self.progress("Received: %s" % str(m))
if m is None:
continue
if m.fix_type >= fix_type:
@ -11097,3 +11099,8 @@ switch value'''
for d in defaults_filepath:
defaults_list.append(os.path.join(testdir, d))
return defaults_list
def load_default_params_file(self, filename):
'''load a file from Tools/autotest/default_params'''
filepath = util.reltopdir(os.path.join("Tools", "autotest", "default_params", filename))
self.repeatedly_apply_parameter_file(filepath)