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autotest: specify baudrate for NMEA GPS for testing

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Peter Barker 2022-09-27 12:15:16 +10:00 committed by Peter Barker
parent 0717c3409b
commit bd364b6169
2 changed files with 13 additions and 6 deletions
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18
Tools/autotest/arducopter.py
View File

@ -7338,7 +7338,7 @@ class AutoTestCopter(AutoTest):
("USD1_v1", 11), ("USD1_v1", 11),
("leddarone", 12), ("leddarone", 12),
("maxsonarseriallv", 13), ("maxsonarseriallv", 13),
("nmea", 17), ("nmea", 17, {"baud": 9600}),
("wasp", 18), ("wasp", 18),
("benewake_tf02", 19), ("benewake_tf02", 19),
("blping", 23), ("blping", 23),
@ -7357,14 +7357,20 @@ class AutoTestCopter(AutoTest):
(1, '--uartF', 5), (1, '--uartF', 5),
(2, '--uartG', 6)]: (2, '--uartG', 6)]:
if len(do_drivers) > offs: if len(do_drivers) > offs:
(sim_name, rngfnd_param_value) = do_drivers[offs] if len(do_drivers[offs]) > 2:
(sim_name, rngfnd_param_value, kwargs) = do_drivers[offs]
else:
(sim_name, rngfnd_param_value) = do_drivers[offs]
kwargs = {}
command_line_args.append("%s=sim:%s" % command_line_args.append("%s=sim:%s" %
(cmdline_argument, sim_name)) (cmdline_argument, sim_name))
serial_param_name = "SERIAL%u_PROTOCOL" % serial_num sets = {
self.set_parameters({ "SERIAL%u_PROTOCOL" % serial_num: 9, # rangefinder
serial_param_name: 9, # rangefinder
"RNGFND%u_TYPE" % (offs+1): rngfnd_param_value, "RNGFND%u_TYPE" % (offs+1): rngfnd_param_value,
}) }
if "baud" in kwargs:
sets["SERIAL%u_BAUD" % serial_num] = kwargs["baud"]
self.set_parameters(sets)
self.customise_SITL_commandline(command_line_args) self.customise_SITL_commandline(command_line_args)
self.fly_rangefinder_drivers_fly([x[0] for x in do_drivers]) self.fly_rangefinder_drivers_fly([x[0] for x in do_drivers])
self.context_pop() self.context_pop()

1
Tools/autotest/rover.py
View File

@ -5932,6 +5932,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
"RNGFND1_TYPE" : 17, # NMEA must attach uart to SITL "RNGFND1_TYPE" : 17, # NMEA must attach uart to SITL
"RNGFND1_ORIENT" : 25, # Set to downward facing "RNGFND1_ORIENT" : 25, # Set to downward facing
"SERIAL7_PROTOCOL" : 9, # Rangefinder on uartH "SERIAL7_PROTOCOL" : 9, # Rangefinder on uartH
"SERIAL7_BAUD" : 9600, # Rangefinder specific baudrate
"RNGFND3_TYPE" : 2, # MaxbotixI2C "RNGFND3_TYPE" : 2, # MaxbotixI2C
"RNGFND3_ADDR" : 112, # 0x70 address from SIM_I2C.cpp "RNGFND3_ADDR" : 112, # 0x70 address from SIM_I2C.cpp