From c2e45a0f0abf05246f8edd3a081abd7513c561b5 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 19 May 2023 10:04:32 +1000
Subject: [PATCH] autotest: add an epsilon for achieved servo output for speed
 scaling test

right on the threshold
backport from PR https://github.com/ArduPilot/ardupilot/pull/23823
---
 Tools/autotest/arducopter.py | 16 +++++++++++++---
 1 file changed, 13 insertions(+), 3 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 97cad92989..fb056527ac 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -11,7 +11,6 @@ import os
 import shutil
 import time
 import numpy
-import operator
 
 from pymavlink import quaternion
 from pymavlink import mavutil
@@ -9531,7 +9530,12 @@ class AutoTestCopter(AutoTest):
         self.set_rc(1, 1700) # start driving forward
 
         # this is somewhat empirical...
-        self.wait_servo_channel_value(pump_ch, 1458, timeout=60)
+        self.wait_servo_channel_value(
+            pump_ch,
+            1458,
+            timeout=60,
+            comparator=lambda x, y : abs(x-y) < 5
+        )
 
         self.progress("Turning it off again")
         self.set_rc(rc_ch, 1000)
@@ -9550,7 +9554,13 @@ class AutoTestCopter(AutoTest):
                      0)  # p7
 
         self.progress("Testing speed-ramping")
-        self.wait_servo_channel_value(pump_ch, 1458, timeout=60, comparator=operator.gt)
+        self.wait_servo_channel_value(
+            pump_ch,
+            1458,
+            timeout=60,
+            comparator=lambda x, y : abs(x-y) < 5
+        )
+
         self.start_subtest("Stopping Sprayer")
         self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SPRAYER,
                      0,  # p1