autotest: added AltResetBadGPS test

this tests the bug in handling a glitching GPS with low accuracy with
AHRS alt reset
This commit is contained in:
Andrew Tridgell 2023-02-17 07:58:53 +11:00
parent 78720e9816
commit d00290edfe
1 changed files with 33 additions and 0 deletions

View File

@ -4145,6 +4145,38 @@ class AutoTestPlane(AutoTest):
0) # button mask 0) # button mask
self.fly_home_land_and_disarm() self.fly_home_land_and_disarm()
def AltResetBadGPS(self):
'''Tests the handling of poor GPS lock pre-arm alt resets'''
self.set_parameters({
"SIM_GPS_GLITCH_Z": 0,
"SIM_GPS_ACC": 0.3,
})
self.wait_ready_to_arm()
m = self.assert_receive_message('GLOBAL_POSITION_INT')
relalt = m.relative_alt*0.001
if abs(relalt) > 3:
raise NotAchievedException("Bad relative alt %.1f" % relalt)
self.progress("Setting low accuracy, glitching GPS")
self.set_parameter("SIM_GPS_ACC", 40)
self.set_parameter("SIM_GPS_GLITCH_Z", -47)
self.progress("Waiting 10s for height update")
self.delay_sim_time(10)
self.wait_ready_to_arm()
self.arm_vehicle()
m = self.assert_receive_message('GLOBAL_POSITION_INT')
relalt = m.relative_alt*0.001
if abs(relalt) > 3:
raise NotAchievedException("Bad glitching relative alt %.1f" % relalt)
self.disarm_vehicle()
# reboot to clear potentially bad state
self.reboot_sitl()
def tests(self): def tests(self):
'''return list of all tests''' '''return list of all tests'''
ret = super(AutoTestPlane, self).tests() ret = super(AutoTestPlane, self).tests()
@ -4225,6 +4257,7 @@ class AutoTestPlane(AutoTest):
self.AerobaticsScripting, self.AerobaticsScripting,
self.MANUAL_CONTROL, self.MANUAL_CONTROL,
self.WindEstimates, self.WindEstimates,
self.AltResetBadGPS,
]) ])
return ret return ret