autotest: add test for accelerometer pose calibration

Tools/autotest/apmrover2.py

@@ -5021,6 +5021,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
              "Upload/Download of items in different frames",
              self.test_mission_frames),
 
+            ("AccelCal",
+             "Accelerometer Calibration testing",
+             self.accelcal),
+
             ("DownLoadLogs", "Download logs", lambda:
              self.log_download(
                  self.buildlogs_path("APMrover2-log.bin"),

Tools/autotest/common.py

@@ -3655,6 +3655,48 @@ switch value'''
         if self.get_distance_int(gps1, gps2) > 1:
             raise NotAchievedException("NMEA output inaccurate")
 
+    def mavproxy_load_module(self, module):
+        self.mavproxy.send("module load %s\n" % module)
+        self.mavproxy.expect("Loaded module %s" % module)
+
+    def mavproxy_unload_module(self, module):
+        self.mavproxy.send("module unload %s\n" % module)
+        self.mavproxy.expect("Unloaded module %s" % module)
+
+    def accelcal(self):
+        ex = None
+        try:
+            self.customise_SITL_commandline(["-M", "calibration"])
+            self.mavproxy_load_module("sitl_calibration")
+            self.mavproxy_load_module("calibration")
+            self.mavproxy_load_module("relay")
+            self.mavproxy.send("sitl_accelcal\n")
+            self.mavproxy.send("accelcal\n")
+            self.mavproxy.expect("Init Gyro")
+            self.mavproxy.expect("Calibrated")
+            for wanted in [ "level",
+                            "on its LEFT side",
+                            "on its RIGHT side",
+                            "nose DOWN",
+                            "nose UP",
+                            "on its BACK",
+            ]:
+                timeout = 2
+                self.mavproxy.expect("Place vehicle %s and press any key." % wanted, timeout=timeout)
+                self.mavproxy.expect("sitl_accelcal: sending attitude, please wait..", timeout=timeout)
+                self.mavproxy.expect("sitl_accelcal: attitude detected, please press any key..", timeout=timeout)
+                self.mavproxy.send("\n")
+            self.mavproxy.expect("APM: Calibration successful", timeout=timeout)
+        except Exception as e:
+            self.progress("Caught exception: %s" %
+                          self.get_exception_stacktrace(e))
+            ex = e
+        self.mavproxy_unload_module("relay")
+        self.mavproxy_unload_module("calibration")
+        self.mavproxy_unload_module("sitl_calibration")
+        if ex is not None:
+            raise ex
+
     def test_button(self):
         self.set_parameter("SIM_PIN_MASK", 0)
         self.set_parameter("BTN_ENABLE", 1)