Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-02 14:08:45 -04:00
Code Issues Packages Projects Releases Wiki Activity

autotest: added ExternalAHRS test

Browse Source
This commit is contained in:
Andrew Tridgell 2021-01-01 17:24:58 +11:00 committed by Peter Barker
parent 53e56d2933
commit b5476c6e5c
2 changed files with 33 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
Tools/autotest/ArduPlane_Tests/ExternalAHRS/ap1.txt Normal file
View File

@ -0,0 +1,7 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.090027 1
1 0 3 22 0.000000 0.000000 0.000000 0.000000 -35.361553 149.163956 20.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364540 149.162857 50.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.367333 149.163164 28.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.366814 149.165878 28.000000 1
5 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.362947 149.165179 0.000000 1

28
Tools/autotest/arduplane.py
View File

@ -535,10 +535,10 @@ class AutoTestPlane(AutoTest):
def fly_mission(self, filename, mission_timeout=60.0):
"""Fly a mission from a file."""
self.progress("Flying mission %s" % filename)
self.load_mission(filename)
num_wp = self.load_mission(filename)-1
self.mavproxy.send('switch 1\n') # auto mode
self.wait_mode('AUTO')
self.wait_waypoint(1, 7, max_dist=60)
self.wait_waypoint(1, num_wp, max_dist=60)
self.wait_groundspeed(0, 0.5, timeout=mission_timeout)
self.mavproxy.expect("Auto disarmed")
self.progress("Mission OK")
@ -1877,6 +1877,26 @@ class AutoTestPlane(AutoTest):
self.fly_mission("ap-terrain.txt", mission_timeout=600)
def fly_external_AHRS(self):
"""Fly with external AHRS (VectorNav)"""
self.customise_SITL_commandline(["--uartE=sim:VectorNav"])
self.set_parameter("EAHRS_TYPE", 1)
self.set_parameter("SERIAL4_PROTOCOL", 36)
self.set_parameter("SERIAL4_BAUD", 230400)
self.set_parameter("GPS_TYPE", 21)
self.set_parameter("AHRS_EKF_TYPE", 11)
self.set_parameter("INS_GYR_CAL", 1)
self.reboot_sitl()
self.progress("Running accelcal")
self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
0,0,0,0,4,0,0,
timeout=5)
self.wait_ready_to_arm()
self.arm_vehicle()
self.fly_mission("ap1.txt")
def ekf_lane_switch(self):
self.context_push()
@ -2163,6 +2183,10 @@ class AutoTestPlane(AutoTest):
"Test terrain following in mission",
self.fly_terrain_mission),
("ExternalAHRS",
"Test external AHRS support",
self.fly_external_AHRS),
("Deadreckoning",
"Test deadreckoning support",
self.deadreckoning),