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autotest: correct units in new AHRS2 test

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Peter Barker 2021-03-03 16:51:10 +11:00 committed by Andrew Tridgell
parent 5c8d3a87db
commit a235246628
1 changed files with 12 additions and 8 deletions
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20
Tools/autotest/arduplane.py
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@ -1314,16 +1314,20 @@ class AutoTestPlane(AutoTest):
raise NotAchievedException("Secondary location looks bad")
# check attitude
attitude = self.mav.recv_match(type='ATTITUDE', blocking=True, timeout=1)
if attitude is None:
raise NotAchievedException("Did not receive ATTITUDE message")
self.progress("ATTITUDE: %s" % str(attitude))
if abs(math.degrees(attitude.roll) - ahrs2.roll) > 5:
simstate = self.mav.recv_match(type='SIMSTATE', blocking=True, timeout=1)
if simstate is None:
raise NotAchievedException("Did not receive SIMSTATE message")
self.progress("SIMSTATE: %s" % str(simstate))
want = math.degrees(simstate.roll)
got = math.degrees(ahrs2.roll)
if abs(want - got) > 5:
raise NotAchievedException("Secondary roll looks bad (want=%f got=%f)" %
(math.degrees(attitude.roll), ahrs2.roll))
if abs(math.degrees(attitude.pitch) - ahrs2.pitch) > 5:
(want, got))
want = math.degrees(simstate.pitch)
got = math.degrees(ahrs2.pitch)
if abs(want - got) > 5:
raise NotAchievedException("Secondary pitch looks bad (want=%f got=%f)" %
(math.degrees(attitude.pitch), ahrs2.pitch))
(want, got))
def test_main_flight(self):