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autotest: added a test for landing a copter with significant AHRS trim

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this fails with EKF3
This commit is contained in:
Andrew Tridgell 2023-02-26 10:55:25 +11:00
parent 673a60f1ba
commit a24763a2ba
1 changed files with 15 additions and 0 deletions
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15
Tools/autotest/arducopter.py
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@ -9657,6 +9657,20 @@ class AutoTestCopter(AutoTest):
self.context_pop()
self.reboot_sitl()
def AHRSTrimLand(self):
'''test land detector with significant AHRS trim'''
self.context_push()
self.set_parameters({
"SIM_ACC_TRIM_X": 0.12,
"AHRS_TRIM_X": 0.12,
})
self.reboot_sitl()
self.wait_ready_to_arm()
self.takeoff(alt_min=20, mode='LOITER')
self.land_and_disarm()
self.context_pop()
self.reboot_sitl()
def tests2b(self): # this block currently around 9.5mins here
'''return list of all tests'''
ret = ([
@ -9710,6 +9724,7 @@ class AutoTestCopter(AutoTest):
self.ScriptMountPOI,
self.FlyMissionTwice,
self.IMUConsistency,
self.AHRSTrimLand,
])
return ret