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