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autotest: quadplane AirMode test disables mag check

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This commit is contained in:
Randy Mackay 2023-08-05 11:20:27 +09:00
parent 943630e53a
commit 0b04b265de
1 changed files with 6 additions and 1 deletions
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7
Tools/autotest/quadplane.py
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@ -169,6 +169,10 @@ class AutoTestQuadPlane(AutoTest):
self.wait_ready_to_arm()
self.start_subtest("Verify that arming with switch does not spin motors in other modes")
# disable compass magnetic field arming check that is triggered by the simulated lean of vehicle
# this is required because adjusting the AHRS_TRIM values only affects the IMU and not external compasses
arming_magthresh = self.get_parameter("ARMING_MAGTHRESH")
self.set_parameter("ARMING_MAGTHRESH", 0)
# introduce a large attitude error to verify that stabilization is not active
ahrs_trim_x = self.get_parameter("AHRS_TRIM_X")
self.set_parameter("AHRS_TRIM_X", math.radians(-60))
@ -207,8 +211,9 @@ class AutoTestQuadPlane(AutoTest):
self.progress("Waiting for Motor1 to stop")
self.wait_servo_channel_value(5, min_pwm, comparator=operator.le)
self.wait_ready_to_arm()
# remove attitude error
# remove attitude error and reinstance compass arming check
self.set_parameter("AHRS_TRIM_X", ahrs_trim_x)
self.set_parameter("ARMING_MAGTHRESH", arming_magthresh)
self.start_subtest("verify that AIRMODE auxswitch turns airmode on/off while armed")
"""set RC7_OPTION to AIRMODE"""