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Tools: Copter.ArmFeatures fixups for EKF3 

changed to disable the simulated GPS instead of disabling the driver
expected EKF flags are slightly different
This commit is contained in:
Randy Mackay 2020-12-09 14:01:34 +09:00
parent 9c56b406be
commit f9e7d59756
1 changed files with 13 additions and 7 deletions
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20
Tools/autotest/arducopter.py
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@ -4735,16 +4735,22 @@ class AutoTestCopter(AutoTest):
# ensure we can't switch to LOITER without position
self.progress("Ensure we can't enter LOITER without position")
self.context_push()
self.set_parameter("GPS_TYPE", 0)
self.set_parameter("GPS_TYPE", 2)
self.set_parameter("SIM_GPS_DISABLE", 1)
self.reboot_sitl()
self.change_mode('STABILIZE')
self.wait_ekf_flags((mavutil.mavlink.ESTIMATOR_ATTITUDE |
# check for expected EKF flags
ahrs_ekf_type = self.get_parameter("AHRS_EKF_TYPE")
expected_ekf_flags = (mavutil.mavlink.ESTIMATOR_ATTITUDE |
mavutil.mavlink.ESTIMATOR_VELOCITY_VERT |
mavutil.mavlink.ESTIMATOR_POS_VERT_ABS |
mavutil.mavlink.ESTIMATOR_CONST_POS_MODE |
mavutil.mavlink.ESTIMATOR_PRED_POS_HORIZ_REL),
0,
timeout=120)
mavutil.mavlink.ESTIMATOR_CONST_POS_MODE)
if ahrs_ekf_type == 2:
expected_ekf_flags = expected_ekf_flags | mavutil.mavlink.ESTIMATOR_PRED_POS_HORIZ_REL
self.wait_ekf_flags(expected_ekf_flags, 0, timeout=120)
# arm in Stabilize and attempt to switch to Loiter
self.change_mode('STABILIZE')
self.arm_vehicle()
self.mavproxy.send("mode LOITER\n")
self.mavproxy.expect("requires position")