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autotest: add more tests for MAVLink rangefinder

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Allows for finer-grain control over what messages we're sending.
This commit is contained in:
Peter Barker 2020-12-05 11:58:37 +11:00 committed by Peter Barker
parent 40eb9a8b99
commit fdd0297f12
1 changed files with 47 additions and 0 deletions
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47
Tools/autotest/arducopter.py
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@ -5367,7 +5367,54 @@ class AutoTestCopter(AutoTest):
if not self.current_onboard_log_contains_message("RFND"):
raise NotAchievedException("No RFND messages in log")
def fly_rangefinder_mavlink_distance_sensor(self):
self.start_subtest("Test mavlink rangefinder using DISTANCE_SENSOR messages")
self.context_push()
ex = None
try:
self.set_parameter("SERIAL5_PROTOCOL", 1)
self.set_parameter("RNGFND1_TYPE", 10)
self.reboot_sitl()
self.progress("Should be unhealthy while we don't send messages")
self.assert_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION, True, True, False)
self.progress("Should be healthy while we're sending good messages")
tstart = self.get_sim_time()
while True:
if self.get_sim_time() - tstart > 5:
raise NotAchievedException("Sensor did not come good")
self.mav.mav.distance_sensor_send(
0, # time_boot_ms
10, # min_distance
50, # max_distance
20, # current_distance
mavutil.mavlink.MAV_DISTANCE_SENSOR_LASER, # type
21, # id
mavutil.mavlink.MAV_SENSOR_ROTATION_PITCH_270, # orientation
255 # covariance
)
if self.sensor_has_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION, True, True, True):
self.progress("Sensor has good state")
break
self.delay_sim_time(0.1)
self.progress("Should be unhealthy again if we stop sending messages")
self.delay_sim_time(1)
self.assert_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_LASER_POSITION, True, True, False)
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))
ex = e
self.context_pop()
if ex is not None:
raise ex
def fly_rangefinder_mavlink(self):
self.fly_rangefinder_mavlink_distance_sensor()
# explicit test for the mavlink driver as it doesn't play so nice:
self.set_parameter("SERIAL5_PROTOCOL", 1)
self.set_parameter("RNGFND1_TYPE", 10)