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Tools:autotest: updated FRSky SPort test to use new 2 byte data IDs

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yaapu 2021-05-31 09:39:12 +02:00 committed by Andrew Tridgell
parent 870c280946
commit b14dcf1df5
1 changed files with 51 additions and 57 deletions
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108
Tools/autotest/common.py
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@ -871,19 +871,16 @@ class FRSkySPort(FRSky):
0x500B: "terrain",
# SPort non-passthrough:
0x01: "GPS_ALT_BP",
0x02: "Temp1",
0x04: "Fuel",
0x05: "Temp2",
0x09: "GPS_ALT_AP",
0x10: "BARO_ALT_BP",
0x11: "GPS_ALT_AP",
0x14: "HDG",
0x19: "GPS_SPEED_AP",
0x21: "BARO_ALT_AP",
0x28: "CURR",
0x30: "VARIO",
0x39: "VFAS",
0x082F: "GALT", # gps altitude integer cm
0x040F: "TMP1", # Tmp1
0x060F: "Fuel", # fuel % 0-100
0x041F: "TMP2", # Tmp2
0x010F: "ALT", # baro alt cm
0x083F: "GSPD", # gps speed integer mm/s
0x084F: "HDG", # yaw in cd
0x020F: "CURR", # current dA
0x011F: "VSPD", # vertical speed cm/s
0x021F: "VFAS", # battery 1 voltage cV
# 0x800: "GPS", ## comments as duplicated dictrionary key
0x050E: "RPM1",
@ -9883,8 +9880,8 @@ switch value'''
self.end_subtest("Enable fence via MAVlite")
def tfs_validate_gps_alt(self, value):
self.progress("validating gps altitude integer part (0x%02x)" % value)
alt = value
self.progress("validating gps altitude (0x%02x)" % value)
alt_m = value * 0.01 # cm -> m
gpi = self.mav.recv_match(
type='GLOBAL_POSITION_INT',
blocking=True,
@ -9892,15 +9889,15 @@ switch value'''
)
if gpi is None:
raise NotAchievedException("Did not get GLOBAL_POSITION_INT message")
gpi_alt = round(gpi.alt * 0.001)
self.progress("GLOBAL_POSITION_INT alt==%f frsky==%f" % (gpi_alt, alt))
if self.compare_number_percent(gpi_alt, alt, 10):
gpi_alt_m = round(gpi.alt * 0.001) # mm-> m
self.progress("GLOBAL_POSITION_INT alt==%f frsky==%f" % (gpi_alt_m, alt_m))
if self.compare_number_percent(gpi_alt_m, alt_m, 10):
return True
return False
def tfs_validate_baro_alt(self, value):
self.progress("validating baro altitude integer part (0x%02x)" % value)
alt_m = value
self.progress("validating baro altitude (0x%02x)" % value)
alt_m = value * 0.01 # cm -> m
gpi = self.mav.recv_match(
type='GLOBAL_POSITION_INT',
blocking=True,
@ -9908,15 +9905,15 @@ switch value'''
)
if gpi is None:
raise NotAchievedException("Did not get GLOBAL_POSITION_INT message")
gpi_alt_m = round(gpi.relative_alt * 0.001)
gpi_alt_m = round(gpi.relative_alt * 0.001) # mm -> m
self.progress("GLOBAL_POSITION_INT relative_alt==%f frsky==%f" % (gpi_alt_m, alt_m))
if abs(gpi_alt_m - alt_m) < 1:
return True
return False
def tfs_validate_gps_speed(self, value):
self.progress("validating gps speed integer part (0x%02x)" % value)
speed = value
self.progress("validating gps speed (0x%02x)" % value)
speed_ms = value * 0.001 # mm/s -> m/s
vfr_hud = self.mav.recv_match(
type='VFR_HUD',
blocking=True,
@ -9924,15 +9921,15 @@ switch value'''
)
if vfr_hud is None:
raise NotAchievedException("Did not get VFR_HUD message")
vfr_hud_speed = round(vfr_hud.groundspeed)
self.progress("VFR_HUD groundspeed==%f frsky==%f" % (vfr_hud_speed, speed))
if self.compare_number_percent(vfr_hud_speed, speed, 10):
vfr_hud_speed_ms = round(vfr_hud.groundspeed)
self.progress("VFR_HUD groundspeed==%f frsky==%f" % (vfr_hud_speed_ms, speed_ms))
if self.compare_number_percent(vfr_hud_speed_ms, speed_ms, 10):
return True
return False
def tfs_validate_yaw(self, value):
self.progress("validating yaw (0x%02x)" % value)
yaw = value
yaw_deg = value * 0.01 # cd -> deg
vfr_hud = self.mav.recv_match(
type='VFR_HUD',
blocking=True,
@ -9940,15 +9937,15 @@ switch value'''
)
if vfr_hud is None:
raise NotAchievedException("Did not get VFR_HUD message")
vfr_hud_yaw = round(vfr_hud.heading)
self.progress("VFR_HUD heading==%f frsky==%f" % (vfr_hud_yaw, yaw))
if self.compare_number_percent(vfr_hud_yaw, yaw, 10):
vfr_hud_yaw_deg = round(vfr_hud.heading)
self.progress("VFR_HUD heading==%f frsky==%f" % (vfr_hud_yaw_deg, yaw_deg))
if self.compare_number_percent(vfr_hud_yaw_deg, yaw_deg, 10):
return True
return False
def tfs_validate_vspeed(self, value):
self.progress("validating vspeed (0x%02x)" % value)
vspeed = value
vspeed_ms = value * 0.01 # cm/s -> m/s
vfr_hud = self.mav.recv_match(
type='VFR_HUD',
blocking=True,
@ -9956,15 +9953,15 @@ switch value'''
)
if vfr_hud is None:
raise NotAchievedException("Did not get VFR_HUD message")
vfr_hud_vspeed = round(vfr_hud.climb)
self.progress("VFR_HUD climb==%f frsky==%f" % (vfr_hud_vspeed, vspeed))
if self.compare_number_percent(vfr_hud_vspeed, vspeed, 10):
vfr_hud_vspeed_ms = round(vfr_hud.climb)
self.progress("VFR_HUD climb==%f frsky==%f" % (vfr_hud_vspeed_ms, vspeed_ms))
if self.compare_number_percent(vfr_hud_vspeed_ms, vspeed_ms, 10):
return True
return False
def tfs_validate_battery1(self, value):
self.progress("validating battery1 (0x%02x)" % value)
voltage = value*0.1
voltage_v = value * 0.01 # cV -> V
batt = self.mav.recv_match(
type='BATTERY_STATUS',
blocking=True,
@ -9973,16 +9970,16 @@ switch value'''
)
if batt is None:
raise NotAchievedException("Did not get BATTERY_STATUS message")
battery_status_value = batt.voltages[0]/1000.0
self.progress("BATTERY_STATUS volatge==%f frsky==%f" % (battery_status_value, voltage))
if self.compare_number_percent(battery_status_value, voltage, 10):
battery_status_voltage_v = batt.voltages[0] * 0.001 # mV -> V
self.progress("BATTERY_STATUS volatge==%f frsky==%f" % (battery_status_voltage_v, voltage_v))
if self.compare_number_percent(battery_status_voltage_v, voltage_v, 10):
return True
return False
def tfs_validate_current1(self, value):
# test frsky current vs BATTERY_STATUS
self.progress("validating battery1 (0x%02x)" % value)
current = value*0.1
current_a = value * 0.1 # dA -> A
batt = self.mav.recv_match(
type='BATTERY_STATUS',
blocking=True,
@ -9991,9 +9988,9 @@ switch value'''
)
if batt is None:
raise NotAchievedException("Did not get BATTERY_STATUS message")
battery_status_current = batt.current_battery*0.01
self.progress("BATTERY_STATUS current==%f frsky==%f" % (battery_status_current, current))
if self.compare_number_percent(battery_status_current, current, 10):
battery_status_current_a = batt.current_battery * 0.01 # cA -> A
self.progress("BATTERY_STATUS current==%f frsky==%f" % (battery_status_current_a, current_a))
if self.compare_number_percent(battery_status_current_a, current_a, 10):
return True
return False
@ -10098,21 +10095,18 @@ switch value'''
# This, at least makes sure we're getting some of each
# message.
wants = {
0x01: self.tfs_validate_gps_alt, # gps altitude integer m
0x02: self.tfs_validate_tmp1, # Tmp1
0x04: self.tfs_validate_fuel, # fuel
0x05: self.tfs_validate_tmp2, # Tmp2
0x09: lambda x: True, # gps altitude decimal cm
0x10: self.tfs_validate_baro_alt, # baro alt integer m
0x11: self.tfs_validate_gps_speed, # gps speed integer m/s
0x14: self.tfs_validate_yaw, # yaw in degrees
0x19: lambda x: True, # gps speed decimal cm/s
0x21: lambda x: True, # altitude decimal m
0x28: self.tfs_validate_current1, # current A
0x30: self.tfs_validate_vspeed, # vertical speed m/s
0x39: self.tfs_validate_battery1, # battery 1 voltage
0x800: self.tf_validate_gps, # gps lat/lon
0x50E: self.tfs_validate_rpm, # rpm 1
0x082F: self.tfs_validate_gps_alt, # gps altitude integer cm
0x040F: self.tfs_validate_tmp1, # Tmp1
0x060F: self.tfs_validate_fuel, # fuel % 0-100
0x041F: self.tfs_validate_tmp2, # Tmp2
0x010F: self.tfs_validate_baro_alt, # baro alt cm
0x083F: self.tfs_validate_gps_speed, # gps speed integer mm/s
0x084F: self.tfs_validate_yaw, # yaw in cd
0x020F: self.tfs_validate_current1, # current dA
0x011F: self.tfs_validate_vspeed, # vertical speed cm/s
0x021F: self.tfs_validate_battery1, # battery 1 voltage cV
0x0800: self.tf_validate_gps, # gps lat/lon
0x050E: self.tfs_validate_rpm, # rpm 1
}
tstart = self.get_sim_time_cached()
last_wanting_print = 0