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Autotest: allow to select which GPS flags we want to wait for

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This commit is contained in:
Pierre Kancir 2020-08-26 16:22:34 +02:00 committed by Peter Barker
parent c265a38344
commit 16b499d0f6
2 changed files with 7 additions and 3 deletions
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2
Tools/autotest/arducopter.py
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@ -5185,7 +5185,7 @@ class AutoTestCopter(AutoTest):
ex = None
try:
self.set_parameter("EK2_ALT_SOURCE", 2)
self.wait_gps_disable()
self.wait_gps_disable(position_vertical=True)
self.change_mode("ALT_HOLD")
self.assert_prearm_failure("Need Alt Estimate")
self.change_mode("STABILIZE")

8
Tools/autotest/common.py
View File

@ -3839,7 +3839,7 @@ Also, ignores heartbeats not from our target system'''
raise AutoTestTimeoutException("Failed to get EKF.flags=%u" %
required_value)
def wait_gps_disable(self, timeout=30):
def wait_gps_disable(self, position_horizontal=True, position_vertical=False, timeout=30):
"""Disable GPS and wait for EKF to report the end of assistance from GPS."""
self.set_parameter("SIM_GPS_DISABLE", 1)
tstart = self.get_sim_time()
@ -3850,7 +3850,11 @@ Also, ignores heartbeats not from our target system'''
return
# all of these must NOT be set for arming NOT to happen:
not_required_value = mavutil.mavlink.ESTIMATOR_POS_HORIZ_REL
not_required_value = 0
if position_horizontal:
not_required_value |= mavutil.mavlink.ESTIMATOR_POS_HORIZ_REL
if position_vertical:
not_required_value |= mavutil.mavlink.ESTIMATOR_POS_VERT_AGL
self.progress("Waiting for EKF not having bits %u" % not_required_value)
last_print_time = 0
while timeout is None or self.get_sim_time_cached() < tstart + timeout: