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autotest: add test altitudes in camera log messages are correct

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Peter Barker 2024-04-11 15:27:50 +10:00 committed by Peter Barker
parent d1a1bcba19
commit 0f913b5bdf
1 changed files with 46 additions and 0 deletions
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46
Tools/autotest/arducopter.py
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@ -10783,6 +10783,51 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.wait_disarmed()
def CameraLogMessages(self):
'''ensure Camera log messages are good'''
self.set_parameter("RC12_OPTION", 9) # CameraTrigger
self.set_parameter("CAM1_TYPE", 1) # Camera with servo trigger
self.reboot_sitl() # needed for RC12_OPTION to take effect
gpis = []
gps_raws = []
self.takeoff(10, mode='GUIDED')
self.set_rc(12, 2000)
gpis.append(self.assert_receive_message('GLOBAL_POSITION_INT'))
gps_raws.append(self.assert_receive_message('GPS_RAW_INT'))
self.set_rc(12, 1000)
self.fly_guided_move_local(0, 0, 20)
self.set_rc(12, 2000)
gpis.append(self.assert_receive_message('GLOBAL_POSITION_INT'))
gps_raws.append(self.assert_receive_message('GPS_RAW_INT'))
self.set_rc(12, 1000)
dfreader = self.dfreader_for_current_onboard_log()
self.do_RTL()
for i in range(len(gpis)):
gpi = gpis[i]
gps_raw = gps_raws[i]
m = dfreader.recv_match(type="CAM")
things = [
["absalt", gpi.alt*0.001, m.Alt],
["relalt", gpi.relative_alt*0.001, m.RelAlt],
["gpsalt", gps_raw.alt*0.001, m.GPSAlt], # use GPS_RAW here?
]
for (name, want, got) in things:
if abs(got - want) > 1:
raise NotAchievedException(f"Incorrect {name} {want=} {got=}")
self.progress(f"{name} {want=} {got=}")
want = gpi.relative_alt*0.001
got = m.RelAlt
if abs(got - want) > 1:
raise NotAchievedException(f"Incorrect relalt {want=} {got=}")
def tests2b(self): # this block currently around 9.5mins here
'''return list of all tests'''
ret = ([
@ -10860,6 +10905,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.Ch6TuningWPSpeed,
self.PILOT_THR_BHV,
self.GPSForYawCompassLearn,
self.CameraLogMessages,
])
return ret