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autotest: improve compass test diagnostics

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This commit is contained in:
Peter Barker 2020-07-23 12:22:55 +10:00 committed by Peter Barker
parent b69130d352
commit f1fc61cb41
2 changed files with 11 additions and 3 deletions
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8
Tools/autotest/common.py
View File

@ -4693,6 +4693,7 @@ Also, ignores heartbeats not from our target system'''
self.start_subtest("Try magcal and wait success") self.start_subtest("Try magcal and wait success")
self.progress("Compass mask is %s" % "{0:b}".format(target_mask)) self.progress("Compass mask is %s" % "{0:b}".format(target_mask))
reset_pos_and_start_magcal(target_mask) reset_pos_and_start_magcal(target_mask)
progress_count = [0] * compass_tnumber
reached_pct = [0] * compass_tnumber reached_pct = [0] * compass_tnumber
report_get = [0] * compass_tnumber report_get = [0] * compass_tnumber
tstart = self.get_sim_time() tstart = self.get_sim_time()
@ -4708,16 +4709,19 @@ Also, ignores heartbeats not from our target system'''
raise NotAchievedException("Mag calibration report SUCCESS without 100%% completion") raise NotAchievedException("Mag calibration report SUCCESS without 100%% completion")
report_get[m.compass_id] = 1 report_get[m.compass_id] = 1
else: else:
raise NotAchievedException("Mag calibration didn't SUCCESS") raise NotAchievedException(
"Mag calibration didn't SUCCEED (cal_status=%u) (progress_count=%s)" %
(m.cal_status, progress_count[m.compass_id],))
if all(ele >= 1 for ele in report_get): if all(ele >= 1 for ele in report_get):
self.progress("All Mag report SUCCESS") self.progress("All Mag report SUCCESS")
break break
if m is not None and m.get_type() == "MAG_CAL_PROGRESS": if m is not None and m.get_type() == "MAG_CAL_PROGRESS":
cid = m.compass_id cid = m.compass_id
new_pct = int(m.completion_pct) new_pct = int(m.completion_pct)
progress_count[cid] += 1
if new_pct != reached_pct[cid]: if new_pct != reached_pct[cid]:
reached_pct[cid] = new_pct reached_pct[cid] = new_pct
self.progress("Calibration progress compass ID %d: %s" % (cid, str(reached_pct[cid]))) self.progress("Calibration progress compass ID %d: %s%%" % (cid, str(reached_pct[cid])))
self.mavproxy.send("sitl_stop\n") self.mavproxy.send("sitl_stop\n")
self.mavproxy.send("sitl_attitude 0 0 0\n") self.mavproxy.send("sitl_attitude 0 0 0\n")
self.progress("Checking that value aren't changed without acceptation") self.progress("Checking that value aren't changed without acceptation")

6
Tools/mavproxy_modules/sitl_calibration.py
View File

@ -300,6 +300,8 @@ class MagcalController(CalController):
if m.get_type() == 'MAG_CAL_REPORT': if m.get_type() == 'MAG_CAL_REPORT':
# NOTE: This may be not the ideal way to handle it # NOTE: This may be not the ideal way to handle it
if m.compass_id in self.last_progress: if m.compass_id in self.last_progress:
# this is set to None so we can ensure we don't get
# progress reports for completed compasses.
self.last_progress[m.compass_id] = None self.last_progress[m.compass_id] = None
if len(self.last_progress.values()) and all(progress == None for progress in self.last_progress.values()): if len(self.last_progress.values()) and all(progress == None for progress in self.last_progress.values()):
self.stop() self.stop()
@ -320,6 +322,8 @@ class MagcalController(CalController):
return return
last = self.last_progress[m.compass_id] last = self.last_progress[m.compass_id]
if last is None:
raise Exception("Received progress message for completed compass")
dt = t - self.rotation_start_time dt = t - self.rotation_start_time
if dt > self.max_full_turns * self.full_turn_time: if dt > self.max_full_turns * self.full_turn_time:
@ -334,7 +338,7 @@ class MagcalController(CalController):
m.stuck = False m.stuck = False
for p in self.last_progress.values(): for p in self.last_progress.values():
if not p.stuck: if p is not None and not p.stuck:
break break
else: else:
self.next_rotation() self.next_rotation()