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Tools: copter test_rangefinder_switchover config for EKF2/3

This commit is contained in:
Randy Mackay 2020-11-27 11:39:19 +09:00
parent bd8b85d1e5
commit d00194c60a
1 changed files with 8 additions and 4 deletions
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12
Tools/autotest/arducopter.py
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@ -2567,12 +2567,16 @@ class AutoTestCopter(AutoTest):
self.set_analog_rangefinder_parameters() self.set_analog_rangefinder_parameters()
self.set_parameters({ self.set_parameters({
"RNGFND1_MAX_CM": 1500, "RNGFND1_MAX_CM": 1500
"EK2_RNG_USE_HGT": 70,
"EK2_ENABLE": 1,
"AHRS_EKF_TYPE": 2,
}) })
# configure EKF to use rangefinder for altitude at low altitudes
ahrs_ekf_type = self.get_parameter("AHRS_EKF_TYPE")
if ahrs_ekf_type == 2:
self.set_parameter("EK2_RNG_USE_HGT", 70)
if ahrs_ekf_type == 3:
self.set_parameter("EK3_RNG_USE_HGT", 70)
self.reboot_sitl() # needed for both rangefinder and initial position self.reboot_sitl() # needed for both rangefinder and initial position
self.assert_vehicle_location_is_at_startup_location() self.assert_vehicle_location_is_at_startup_location()