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autotest: require uptime of 5s before declaring GPS definitely not present

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Until we detect a GPS we mark it as "not present", even if the
parameters say that there should be one present.
This commit is contained in:
Peter Barker 2020-07-22 10:03:32 +10:00 committed by Peter Barker
parent db081459d8
commit b69130d352
1 changed files with 6 additions and 2 deletions
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8
Tools/autotest/common.py
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@ -3679,14 +3679,18 @@ class AutoTest(ABC):
self.progress("Waiting for GPS health") self.progress("Waiting for GPS health")
tstart = self.get_sim_time_cached() tstart = self.get_sim_time_cached()
while True: while True:
if self.get_sim_time_cached() - tstart > timeout: now = self.get_sim_time_cached()
if now - tstart > timeout:
raise AutoTestTimeoutException("GPS status bits did not become good") raise AutoTestTimeoutException("GPS status bits did not become good")
m = self.mav.recv_match(type='SYS_STATUS', blocking=True, timeout=1) m = self.mav.recv_match(type='SYS_STATUS', blocking=True, timeout=1)
if m is None: if m is None:
continue continue
if (not (m.onboard_control_sensors_present & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS)): if (not (m.onboard_control_sensors_present & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS)):
self.progress("GPS not present") self.progress("GPS not present")
return if now > 5:
# it's had long enough to be detected....
return
continue
if (not (m.onboard_control_sensors_enabled & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS)): if (not (m.onboard_control_sensors_enabled & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_GPS)):
self.progress("GPS not enabled") self.progress("GPS not enabled")
continue continue