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autotest: add test for Plane flying with a very slow GPS

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Peter Barker 2021-10-05 20:16:49 +11:00 committed by Peter Barker
parent 4dbff85de7
commit dd49d79798
1 changed files with 22 additions and 0 deletions
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22
Tools/autotest/arduplane.py
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@ -3084,6 +3084,24 @@ class AutoTestPlane(AutoTest):
self.fly_mission("ap-circuit.txt", mission_timeout=1200)
def DCMFallback(self):
self.wait_ready_to_arm()
self.arm_vehicle()
self.takeoff(50)
self.context_collect('STATUSTEXT')
self.set_parameter("EK3_POS_I_GATE", 25)
self.set_parameter("SIM_GPS_HZ", 1)
self.wait_statustext("DCM Active", check_context=True)
self.wait_statustext("EKF3 Active", check_context=True)
self.wait_statustext("DCM Active", check_context=True)
self.wait_statustext("EKF3 Active", check_context=True)
self.wait_statustext("DCM Active", check_context=True)
self.wait_statustext("EKF3 Active", check_context=True)
self.context_stop_collecting('STATUSTEXT')
self.fly_home_land_and_disarm()
def ForcedDCM(self):
self.wait_ready_to_arm()
@ -3314,6 +3332,10 @@ class AutoTestPlane(AutoTest):
"Switch to DCM mid-flight",
self.ForcedDCM),
("DCMFallback",
"Really annoy the EKF and force fallback",
self.DCMFallback),
("MAVFTP",
"Test MAVProxy can talk FTP to autopilot",
self.MAVFTP),