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Tools: fixes from peer review as AHRS default changed to EKF3

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This commit is contained in:
Randy Mackay 2021-01-15 16:39:15 +09:00
parent 2f51b59de4
commit b18e5966f7
1 changed files with 10 additions and 6 deletions
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10
Tools/autotest/arducopter.py
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@ -1822,7 +1822,6 @@ class AutoTestCopter(AutoTest):
ex = e ex = e
self.set_rc(2, 1500) self.set_rc(2, 1500)
self.set_rc(3, 1500)
self.context_pop() self.context_pop()
self.disarm_vehicle(force=True) self.disarm_vehicle(force=True)
self.reboot_sitl() self.reboot_sitl()
@ -2208,11 +2207,16 @@ class AutoTestCopter(AutoTest):
ex = None ex = None
try: try:
self.set_parameter("GPS_TYPE", 0) # configure EKF to use external nav instead of GPS
ahrs_ekf_type = self.get_parameter("AHRS_EKF_TYPE")
if ahrs_ekf_type == 2:
self.set_parameter("EK2_GPS_TYPE", 3)
if ahrs_ekf_type == 3:
self.set_parameter("EK3_SRC1_POSXY", 6) self.set_parameter("EK3_SRC1_POSXY", 6)
self.set_parameter("EK3_SRC1_VELXY", 6) self.set_parameter("EK3_SRC1_VELXY", 6)
self.set_parameter("EK3_SRC1_POSZ", 6) self.set_parameter("EK3_SRC1_POSZ", 6)
self.set_parameter("EK3_SRC1_VELZ", 6) self.set_parameter("EK3_SRC1_VELZ", 6)
self.set_parameter("GPS_TYPE", 0)
self.set_parameter("VISO_TYPE", 1) self.set_parameter("VISO_TYPE", 1)
self.set_parameter("SERIAL5_PROTOCOL", 1) self.set_parameter("SERIAL5_PROTOCOL", 1)
self.reboot_sitl() self.reboot_sitl()
@ -5712,7 +5716,7 @@ class AutoTestCopter(AutoTest):
# check that mode change to ALT_HOLD has failed (it should) # check that mode change to ALT_HOLD has failed (it should)
if self.mode_is("ALT_HOLD"): if self.mode_is("ALT_HOLD"):
raise NotAchievedException("FAIL - Changed to ALT_HOLD with no altitude estimate") raise NotAchievedException("Changed to ALT_HOLD with no altitude estimate")
except Exception as e: except Exception as e:
self.progress("Exception caught: %s" % ( self.progress("Exception caught: %s" % (