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autotest: increase verbosity in AHRS2 test

This commit is contained in:
Peter Barker 2021-03-03 14:28:17 +11:00 committed by Peter Barker
parent 69275582fa
commit b3ee5d5f59
1 changed files with 7 additions and 2 deletions
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9
Tools/autotest/arduplane.py
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@ -1299,6 +1299,7 @@ class AutoTestPlane(AutoTest):
ahrs2 = self.mav.recv_match(type='AHRS2', blocking=True, timeout=1)
if ahrs2 is None:
raise NotAchievedException("Did not receive AHRS2 message")
self.progress("AHRS2: %s" % str(ahrs2))
# check location
gpi = self.mav.recv_match(
@ -1308,6 +1309,7 @@ class AutoTestPlane(AutoTest):
)
if gpi is None:
raise NotAchievedException("Did not receive GLOBAL_POSITION_INT message")
self.progress("GPI: %s" % str(gpi))
if self.get_distance_int(gpi, ahrs2) > 10:
raise NotAchievedException("Secondary location looks bad")
@ -1315,10 +1317,13 @@ class AutoTestPlane(AutoTest):
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:
raise NotAchievedException("Secondary roll looks bad")
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:
raise NotAchievedException("Secondary pitch looks bad")
raise NotAchievedException("Secondary pitch looks bad (want=%f got=%f)" %
(math.degrees(attitude.pitch), ahrs2.pitch))
def test_main_flight(self):