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Tools: autotest: common and arducopter: use new compass params

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Iampete1 2021-11-02 22:58:12 +00:00 committed by Randy Mackay
parent bf335b11ed
commit f52fb3148b
2 changed files with 122 additions and 145 deletions
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6
Tools/autotest/arducopter.py
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@ -6813,9 +6813,9 @@ class AutoTestCopter(AutoTest):
self.start_subtest("missing required yaw source")
self.set_parameters({
"EK3_SRC3_YAW": 3, # External Yaw with Compass Fallback
"COMPASS_USE": 0,
"COMPASS_USE2": 0,
"COMPASS_USE3": 0,
"COMPASS1_USE": 0,
"COMPASS2_USE": 0,
"COMPASS3_USE": 0,
})
self.assert_prearm_failure("EK3 sources require Compass")
self.context_pop()

261
Tools/autotest/common.py
View File

@ -7036,16 +7036,12 @@ Also, ignores heartbeats not from our target system'''
0 # param7
)
self.progress("zeroed mag parameters")
params = [
[("SIM_MAG_OFS_X", "COMPASS_OFS_X", 0),
("SIM_MAG_OFS_Y", "COMPASS_OFS_Y", 0),
("SIM_MAG_OFS_Z", "COMPASS_OFS_Z", 0), ],
]
for count in range(2, compass_count + 1):
params = []
for count in range(1, compass_count + 1):
params += [
[("SIM_MAG%d_OFS_X" % count, "COMPASS_OFS%d_X" % count, 0),
("SIM_MAG%d_OFS_Y" % count, "COMPASS_OFS%d_Y" % count, 0),
("SIM_MAG%d_OFS_Z" % count, "COMPASS_OFS%d_Z" % count, 0), ],
[("SIM_MAG%d_OFS_X" % count, "COMPASS%d_OFS_X" % count, 0),
("SIM_MAG%d_OFS_Y" % count, "COMPASS%d_OFS_Y" % count, 0),
("SIM_MAG%d_OFS_Z" % count, "COMPASS%d_OFS_Z" % count, 0), ],
]
self.check_zero_mag_parameters(params)
@ -7053,22 +7049,15 @@ Also, ignores heartbeats not from our target system'''
self.progress("Forty twoing Mag DIA and ODI parameters")
self.drain_mav()
self.get_sim_time()
params = [
[("SIM_MAG_DIA_X", "COMPASS_DIA_X", 42.0),
("SIM_MAG_DIA_Y", "COMPASS_DIA_Y", 42.0),
("SIM_MAG_DIA_Z", "COMPASS_DIA_Z", 42.0),
("SIM_MAG_ODI_X", "COMPASS_ODI_X", 42.0),
("SIM_MAG_ODI_Y", "COMPASS_ODI_Y", 42.0),
("SIM_MAG_ODI_Z", "COMPASS_ODI_Z", 42.0), ],
]
for count in range(2, compass_count + 1):
params = []
for count in range(1, compass_count + 1):
params += [
[("SIM_MAG%d_DIA_X" % count, "COMPASS_DIA%d_X" % count, 42.0),
("SIM_MAG%d_DIA_Y" % count, "COMPASS_DIA%d_Y" % count, 42.0),
("SIM_MAG%d_DIA_Z" % count, "COMPASS_DIA%d_Z" % count, 42.0),
("SIM_MAG%d_ODI_X" % count, "COMPASS_ODI%d_X" % count, 42.0),
("SIM_MAG%d_ODI_Y" % count, "COMPASS_ODI%d_Y" % count, 42.0),
("SIM_MAG%d_ODI_Z" % count, "COMPASS_ODI%d_Z" % count, 42.0), ],
[("SIM_MAG%d_DIA_X" % count, "COMPASS%d_DIA_X" % count, 42.0),
("SIM_MAG%d_DIA_Y" % count, "COMPASS%d_DIA_Y" % count, 42.0),
("SIM_MAG%d_DIA_Z" % count, "COMPASS%d_DIA_Z" % count, 42.0),
("SIM_MAG%d_ODI_X" % count, "COMPASS%d_ODI_X" % count, 42.0),
("SIM_MAG%d_ODI_Y" % count, "COMPASS%d_ODI_Y" % count, 42.0),
("SIM_MAG%d_ODI_Z" % count, "COMPASS%d_ODI_Z" % count, 42.0), ],
]
self.wait_heartbeat()
to_set = {}
@ -7104,9 +7093,8 @@ Also, ignores heartbeats not from our target system'''
def check_zeros_mag_orient(self, compass_count=3):
self.progress("zeroed mag parameters")
self.verify_parameter_values({"COMPASS_ORIENT": 0})
for count in range(2, compass_count + 1):
self.verify_parameter_values({"COMPASS_ORIENT%d" % count: 0})
for count in range(1, compass_count + 1):
self.verify_parameter_values({"COMPASS%d_ORIENT" % count: 0})
def test_mag_calibration(self, compass_count=3, timeout=1000):
def reset_pos_and_start_magcal(mavproxy, tmask):
@ -7133,27 +7121,27 @@ Also, ignores heartbeats not from our target system'''
MAG_DIA = 1.0
MAG_ODI = 0.004
params += [
[("SIM_MAG_OFS_X", "COMPASS_OFS_X", MAG_OFS),
("SIM_MAG_OFS_Y", "COMPASS_OFS_Y", MAG_OFS + 100),
("SIM_MAG_OFS_Z", "COMPASS_OFS_Z", MAG_OFS + 200),
("SIM_MAG_DIA_X", "COMPASS_DIA_X", MAG_DIA),
("SIM_MAG_DIA_Y", "COMPASS_DIA_Y", MAG_DIA + 0.1),
("SIM_MAG_DIA_Z", "COMPASS_DIA_Z", MAG_DIA + 0.2),
("SIM_MAG_ODI_X", "COMPASS_ODI_X", MAG_ODI),
("SIM_MAG_ODI_Y", "COMPASS_ODI_Y", MAG_ODI + 0.001),
("SIM_MAG_ODI_Z", "COMPASS_ODI_Z", MAG_ODI + 0.001), ],
[("SIM_MAG_OFS_X", "COMPASS1_OFS_X", MAG_OFS),
("SIM_MAG_OFS_Y", "COMPASS1_OFS_Y", MAG_OFS + 100),
("SIM_MAG_OFS_Z", "COMPASS1_OFS_Z", MAG_OFS + 200),
("SIM_MAG_DIA_X", "COMPASS1_DIA_X", MAG_DIA),
("SIM_MAG_DIA_Y", "COMPASS1_DIA_Y", MAG_DIA + 0.1),
("SIM_MAG_DIA_Z", "COMPASS1_DIA_Z", MAG_DIA + 0.2),
("SIM_MAG_ODI_X", "COMPASS1_ODI_X", MAG_ODI),
("SIM_MAG_ODI_Y", "COMPASS1_ODI_Y", MAG_ODI + 0.001),
("SIM_MAG_ODI_Z", "COMPASS1_ODI_Z", MAG_ODI + 0.001), ],
]
for count in range(2, compass_count + 1):
params += [
[("SIM_MAG%d_OFS_X" % count, "COMPASS_OFS%d_X" % count, MAG_OFS + 100 * ((count+2) % compass_count)),
("SIM_MAG%d_OFS_Y" % count, "COMPASS_OFS%d_Y" % count, MAG_OFS + 100 * ((count+3) % compass_count)),
("SIM_MAG%d_OFS_Z" % count, "COMPASS_OFS%d_Z" % count, MAG_OFS + 100 * ((count+1) % compass_count)),
("SIM_MAG%d_DIA_X" % count, "COMPASS_DIA%d_X" % count, MAG_DIA + 0.1 * ((count+2) % compass_count)),
("SIM_MAG%d_DIA_Y" % count, "COMPASS_DIA%d_Y" % count, MAG_DIA + 0.1 * ((count+3) % compass_count)),
("SIM_MAG%d_DIA_Z" % count, "COMPASS_DIA%d_Z" % count, MAG_DIA + 0.1 * ((count+1) % compass_count)),
("SIM_MAG%d_ODI_X" % count, "COMPASS_ODI%d_X" % count, MAG_ODI + 0.001 * ((count+2) % compass_count)),
("SIM_MAG%d_ODI_Y" % count, "COMPASS_ODI%d_Y" % count, MAG_ODI + 0.001 * ((count+3) % compass_count)),
("SIM_MAG%d_ODI_Z" % count, "COMPASS_ODI%d_Z" % count, MAG_ODI + 0.001 * ((count+1) % compass_count)), ],
[("SIM_MAG%d_OFS_X" % count, "COMPASS%d_OFS_X" % count, MAG_OFS + 100 * ((count+2) % compass_count)),
("SIM_MAG%d_OFS_Y" % count, "COMPASS%d_OFS_Y" % count, MAG_OFS + 100 * ((count+3) % compass_count)),
("SIM_MAG%d_OFS_Z" % count, "COMPASS%d_OFS_Z" % count, MAG_OFS + 100 * ((count+1) % compass_count)),
("SIM_MAG%d_DIA_X" % count, "COMPASS%d_DIA_X" % count, MAG_DIA + 0.1 * ((count+2) % compass_count)),
("SIM_MAG%d_DIA_Y" % count, "COMPASS%d_DIA_Y" % count, MAG_DIA + 0.1 * ((count+3) % compass_count)),
("SIM_MAG%d_DIA_Z" % count, "COMPASS%d_DIA_Z" % count, MAG_DIA + 0.1 * ((count+1) % compass_count)),
("SIM_MAG%d_ODI_X" % count, "COMPASS%d_ODI_X" % count, MAG_ODI + 0.001 * ((count+2) % compass_count)),
("SIM_MAG%d_ODI_Y" % count, "COMPASS%d_ODI_Y" % count, MAG_ODI + 0.001 * ((count+3) % compass_count)),
("SIM_MAG%d_ODI_Z" % count, "COMPASS%d_ODI_Z" % count, MAG_ODI + 0.001 * ((count+1) % compass_count)), ],
]
self.progress("Setting calibration mode")
self.wait_heartbeat()
@ -7177,7 +7165,7 @@ Also, ignores heartbeats not from our target system'''
# for count in range(2, compass_count + 1):
# self.set_parameter("SIM_MAG%d_ORIENT" % count, MAG_ORIENT * (count % 41))
# # set compass external to check that orientation is found and auto set
# self.set_parameter("COMPASS_EXTERN%d" % count, 1)
# self.set_parameter("COMPASS%d_EXTERN" % count, 1)
to_set = {}
for param_set in params:
for param in param_set:
@ -7191,9 +7179,8 @@ Also, ignores heartbeats not from our target system'''
# Change the default value to unexpected 42
self.forty_two_mag_dia_odi_parameters()
self.progress("Zeroing Mags orientations")
self.set_parameter("COMPASS_ORIENT", 0)
for count in range(2, compass_count + 1):
self.set_parameter("COMPASS_ORIENT%d" % count, 0)
for count in range(1, compass_count + 1):
self.set_parameter("COMPASS%d_ORIENT" % count, 0)
# Only care about compass prearm
self.set_parameter("ARMING_CHECK", 4)
@ -7361,9 +7348,9 @@ Also, ignores heartbeats not from our target system'''
timeout=20,
)
self.check_mag_parameters(params, compass_tnumber)
self.verify_parameter_values({"COMPASS_ORIENT": self.get_parameter("SIM_MAG_ORIENT")})
self.verify_parameter_values({"COMPASS1_ORIENT": self.get_parameter("SIM_MAG_ORIENT")})
for count in range(2, compass_tnumber + 1):
self.verify_parameter_values({"COMPASS_ORIENT%d" % count: self.get_parameter("SIM_MAG%d_ORIENT" % count)})
self.verify_parameter_values({"COMPASS%d_ORIENT" % count: self.get_parameter("SIM_MAG%d_ORIENT" % count)})
self.try_arm(False, "Compass calibrated requires reboot")
# test buzzer/notify ?
@ -7378,7 +7365,7 @@ Also, ignores heartbeats not from our target system'''
(_in, _out, value) = param
self.set_parameter(_out, value)
for count in range(compass_tnumber + 1, compass_count + 1):
self.set_parameter("COMPASS_ORIENT%d" % count, self.get_parameter("SIM_MAG%d_ORIENT" % count))
self.set_parameter("COMPASS%d_ORIENT" % count, self.get_parameter("SIM_MAG%d_ORIENT" % count))
self.arm_vehicle()
self.progress("Test calibration rejection when armed")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL,
@ -7447,35 +7434,25 @@ Also, ignores heartbeats not from our target system'''
parameter_mappings[key] = key
for (old_compass_num, new_compass_num) in transforms:
old_key_compass_bit = str(old_compass_num)
if old_key_compass_bit == "1":
old_key_compass_bit = ""
new_key_compass_bit = str(new_compass_num)
if new_key_compass_bit == "1":
new_key_compass_bit = ""
# vectors first:
for key_vector_bit in ["OFS", "DIA", "ODI", "MOT"]:
for axis in "X", "Y", "Z":
old_key = "COMPASS_%s%s_%s" % (key_vector_bit,
old_key_compass_bit,
old_key = "COMPASS%s_%s_%s" % (old_key_compass_bit,
key_vector_bit,
axis)
new_key = "COMPASS_%s%s_%s" % (key_vector_bit,
new_key_compass_bit,
new_key = "COMPASS%s_%s_%s" % (new_key_compass_bit,
key_vector_bit,
axis)
parameter_mappings[old_key] = new_key
# then non-vectorey bits:
for key_bit in "SCALE", "ORIENT":
old_key = "COMPASS_%s%s" % (key_bit, old_key_compass_bit)
new_key = "COMPASS_%s%s" % (key_bit, new_key_compass_bit)
old_key = "COMPASS%s_%s" % (old_key_compass_bit, key_bit)
new_key = "COMPASS%s_%s" % (new_key_compass_bit, key_bit)
parameter_mappings[old_key] = new_key
# then a sore thumb:
if old_key_compass_bit == "":
old_key = "COMPASS_EXTERNAL"
else:
old_key = "COMPASS_EXTERN%s" % old_key_compass_bit
if new_key_compass_bit == "":
new_key = "COMPASS_EXTERNAL"
else:
new_key = "COMPASS_EXTERN%s" % new_key_compass_bit
old_key = "COMPASS%s_EXTERN" % old_key_compass_bit
new_key = "COMPASS%s_EXTERN" % new_key_compass_bit
parameter_mappings[old_key] = new_key
for key in values.keys():
@ -7491,53 +7468,53 @@ Also, ignores heartbeats not from our target system'''
ex = None
try:
originals = {
"COMPASS_OFS_X": 1.1,
"COMPASS_OFS_Y": 1.2,
"COMPASS_OFS_Z": 1.3,
"COMPASS_DIA_X": 1.4,
"COMPASS_DIA_Y": 1.5,
"COMPASS_DIA_Z": 1.6,
"COMPASS_ODI_X": 1.7,
"COMPASS_ODI_Y": 1.8,
"COMPASS_ODI_Z": 1.9,
"COMPASS_MOT_X": 1.91,
"COMPASS_MOT_Y": 1.92,
"COMPASS_MOT_Z": 1.93,
"COMPASS_SCALE": 1.94,
"COMPASS_ORIENT": 1,
"COMPASS_EXTERNAL": 2,
"COMPASS1_OFS_X": 1.1,
"COMPASS1_OFS_Y": 1.2,
"COMPASS1_OFS_Z": 1.3,
"COMPASS1_DIA_X": 1.4,
"COMPASS1_DIA_Y": 1.5,
"COMPASS1_DIA_Z": 1.6,
"COMPASS1_ODI_X": 1.7,
"COMPASS1_ODI_Y": 1.8,
"COMPASS1_ODI_Z": 1.9,
"COMPASS1_MOT_X": 1.91,
"COMPASS1_MOT_Y": 1.92,
"COMPASS1_MOT_Z": 1.93,
"COMPASS1_SCALE": 1.94,
"COMPASS1_ORIENT": 1,
"COMPASS1_EXTERN": 2,
"COMPASS_OFS2_X": 2.1,
"COMPASS_OFS2_Y": 2.2,
"COMPASS_OFS2_Z": 2.3,
"COMPASS_DIA2_X": 2.4,
"COMPASS_DIA2_Y": 2.5,
"COMPASS_DIA2_Z": 2.6,
"COMPASS_ODI2_X": 2.7,
"COMPASS_ODI2_Y": 2.8,
"COMPASS_ODI2_Z": 2.9,
"COMPASS_MOT2_X": 2.91,
"COMPASS_MOT2_Y": 2.92,
"COMPASS_MOT2_Z": 2.93,
"COMPASS_SCALE2": 2.94,
"COMPASS_ORIENT2": 3,
"COMPASS_EXTERN2": 4,
"COMPASS2_OFS_X": 2.1,
"COMPASS2_OFS_Y": 2.2,
"COMPASS2_OFS_Z": 2.3,
"COMPASS2_DIA_X": 2.4,
"COMPASS2_DIA_Y": 2.5,
"COMPASS2_DIA_Z": 2.6,
"COMPASS2_ODI_X": 2.7,
"COMPASS2_ODI_Y": 2.8,
"COMPASS2_ODI_Z": 2.9,
"COMPASS2_MOT_X": 2.91,
"COMPASS2_MOT_Y": 2.92,
"COMPASS2_MOT_Z": 2.93,
"COMPASS2_SCALE": 2.94,
"COMPASS2_ORIENT": 3,
"COMPASS2_EXTERN": 4,
"COMPASS_OFS3_X": 3.1,
"COMPASS_OFS3_Y": 3.2,
"COMPASS_OFS3_Z": 3.3,
"COMPASS_DIA3_X": 3.4,
"COMPASS_DIA3_Y": 3.5,
"COMPASS_DIA3_Z": 3.6,
"COMPASS_ODI3_X": 3.7,
"COMPASS_ODI3_Y": 3.8,
"COMPASS_ODI3_Z": 3.9,
"COMPASS_MOT3_X": 3.91,
"COMPASS_MOT3_Y": 3.92,
"COMPASS_MOT3_Z": 3.93,
"COMPASS_SCALE3": 3.94,
"COMPASS_ORIENT3": 5,
"COMPASS_EXTERN3": 6,
"COMPASS3_OFS_X": 3.1,
"COMPASS3_OFS_Y": 3.2,
"COMPASS3_OFS_Z": 3.3,
"COMPASS3_DIA_X": 3.4,
"COMPASS3_DIA_Y": 3.5,
"COMPASS3_DIA_Z": 3.6,
"COMPASS3_ODI_X": 3.7,
"COMPASS3_ODI_Y": 3.8,
"COMPASS3_ODI_Z": 3.9,
"COMPASS3_MOT_X": 3.91,
"COMPASS3_MOT_Y": 3.92,
"COMPASS3_MOT_Z": 3.93,
"COMPASS3_SCALE": 3.94,
"COMPASS3_ORIENT": 5,
"COMPASS3_EXTERN": 6,
}
# quick sanity check to ensure all values are unique:
@ -7596,35 +7573,35 @@ Also, ignores heartbeats not from our target system'''
MAG_OFS_Y = 200
MAG_OFS_Z = 300
wanted = {
"COMPASS_OFS_X": (MAG_OFS_X, 3.0),
"COMPASS_OFS_Y": (MAG_OFS_Y, 3.0),
"COMPASS_OFS_Z": (MAG_OFS_Z, 3.0),
"COMPASS_DIA_X": 1,
"COMPASS_DIA_Y": 1,
"COMPASS_DIA_Z": 1,
"COMPASS_ODI_X": 0,
"COMPASS_ODI_Y": 0,
"COMPASS_ODI_Z": 0,
"COMPASS1_OFS_X": (MAG_OFS_X, 3.0),
"COMPASS1_OFS_Y": (MAG_OFS_Y, 3.0),
"COMPASS1_OFS_Z": (MAG_OFS_Z, 3.0),
"COMPASS1_DIA_X": 1,
"COMPASS1_DIA_Y": 1,
"COMPASS1_DIA_Z": 1,
"COMPASS1_ODI_X": 0,
"COMPASS1_ODI_Y": 0,
"COMPASS1_ODI_Z": 0,
"COMPASS_OFS2_X": (MAG_OFS_X, 3.0),
"COMPASS_OFS2_Y": (MAG_OFS_Y, 3.0),
"COMPASS_OFS2_Z": (MAG_OFS_Z, 3.0),
"COMPASS_DIA2_X": 1,
"COMPASS_DIA2_Y": 1,
"COMPASS_DIA2_Z": 1,
"COMPASS_ODI2_X": 0,
"COMPASS_ODI2_Y": 0,
"COMPASS_ODI2_Z": 0,
"COMPASS2_OFS_X": (MAG_OFS_X, 3.0),
"COMPASS2_OFS_Y": (MAG_OFS_Y, 3.0),
"COMPASS2_OFS_Z": (MAG_OFS_Z, 3.0),
"COMPASS2_DIA_X": 1,
"COMPASS2_DIA_Y": 1,
"COMPASS2_DIA_Z": 1,
"COMPASS2_ODI_X": 0,
"COMPASS2_ODI_Y": 0,
"COMPASS2_ODI_Z": 0,
"COMPASS_OFS3_X": (MAG_OFS_X, 3.0),
"COMPASS_OFS3_Y": (MAG_OFS_Y, 3.0),
"COMPASS_OFS3_Z": (MAG_OFS_Z, 3.0),
"COMPASS_DIA3_X": 1,
"COMPASS_DIA3_Y": 1,
"COMPASS_DIA3_Z": 1,
"COMPASS_ODI3_X": 0,
"COMPASS_ODI3_Y": 0,
"COMPASS_ODI3_Z": 0,
"COMPASS3_OFS_X": (MAG_OFS_X, 3.0),
"COMPASS3_OFS_Y": (MAG_OFS_Y, 3.0),
"COMPASS3_OFS_Z": (MAG_OFS_Z, 3.0),
"COMPASS3_DIA_X": 1,
"COMPASS3_DIA_Y": 1,
"COMPASS3_DIA_Z": 1,
"COMPASS3_ODI_X": 0,
"COMPASS3_ODI_Y": 0,
"COMPASS3_ODI_Z": 0,
}
self.set_parameters({
"SIM_MAG_OFS_X": MAG_OFS_X,