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Tools: add flight test for rangefinder in Copter

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Peter Barker 2018-06-06 11:31:14 +10:00 committed by Peter Barker
parent 55f751a8f4
commit ecb3cabf72
1 changed files with 23 additions and 0 deletions
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23
Tools/autotest/arducopter.py
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@ -1496,9 +1496,32 @@ class AutoTestCopter(AutoTest):
if flags & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION: if flags & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION:
raise NotAchievedException("Laser enabled in SYS_STATUS") raise NotAchievedException("Laser enabled in SYS_STATUS")
self.progress("Re-enabling rangefinder")
self.set_rc(9, 2000)
self.delay_sim_time(1)
m = self.mav.recv_match(type='SYS_STATUS',
blocking=True,
timeout=10)
flags = m.onboard_control_sensors_enabled
if not flags & mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION:
raise NotAchievedException("Laser not enabled in SYS_STATUS")
self.takeoff(10, mode="LOITER")
m_r = self.mav.recv_match(type='RANGEFINDER',
blocking=True)
m_p = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
if abs(m_r.distance - m_p.relative_alt/1000) > 1:
raise NotAchievedException("rangefinder/global position int mismatch")
self.land()
except Exception as e: except Exception as e:
self.progress("Exception caught") self.progress("Exception caught")
ex = e ex = e
self.land()
self.context_pop() self.context_pop()
self.reboot_sitl() self.reboot_sitl()
if ex is not None: if ex is not None: