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autotest: check altitude in GPSWeightedBlending test

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Peter Barker 2024-08-20 14:08:00 +10:00 committed by Andrew Tridgell
parent 39b4b80a5f
commit 14e5fd396a
1 changed files with 5 additions and 4 deletions
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9
Tools/autotest/arducopter.py
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@ -9142,15 +9142,16 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
if m.TimeUS != current_ts:
current_ts = None
continue
measurements[m.I] = (m.Lat, m.Lng)
measurements[m.I] = (m.Lat, m.Lng, m.Alt)
if len(measurements) == 3:
# check lat:
for n in 0, 1:
for n in 0, 1, 2:
expected_blended = 0.8*measurements[0][n] + 0.2*measurements[1][n]
epsilon = 0.0000002
axis_epsilons = [0.0000002, 0.0000002, 0.2]
epsilon = axis_epsilons[n]
error = abs(measurements[2][n] - expected_blended)
if error > epsilon:
raise NotAchievedException(f"Blended diverged {measurements[0][n]=} {measurements[1][n]=}")
raise NotAchievedException(f"Blended diverged {n=} {measurements[0][n]=} {measurements[1][n]=}")
current_ts = None
self.context_pop()