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autotest: fix un-set variable problem in verify_innov

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Peter Barker 2023-01-05 07:47:31 +11:00 committed by Peter Barker
parent c68bab44a5
commit d9564d973d
1 changed files with 3 additions and 0 deletions
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3
Tools/autotest/arducopter.py
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@ -2419,6 +2419,7 @@ class AutoTestCopter(AutoTest):
self.reboot_sitl() self.reboot_sitl()
# add a listener that verifies rangefinder innovations look good # add a listener that verifies rangefinder innovations look good
global alt
alt = None alt = None
def verify_innov(mav, m): def verify_innov(mav, m):
@ -2428,6 +2429,8 @@ class AutoTestCopter(AutoTest):
return return
if m.get_type() != 'EKF_STATUS_REPORT': if m.get_type() != 'EKF_STATUS_REPORT':
return return
if alt is None:
return
if alt > 1 and alt < 8: # 8 is very low, but it takes a long time to start to use the rangefinder again if alt > 1 and alt < 8: # 8 is very low, but it takes a long time to start to use the rangefinder again
zero_variance_wanted = False zero_variance_wanted = False
elif alt > 20: elif alt > 20: