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autotest: spit out actual simulated mag orientations as part of debug

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Peter Barker 2020-09-02 09:28:00 +10:00 committed by Peter Barker
parent a44defc49e
commit 2ea41b7997
1 changed files with 7 additions and 2 deletions
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9
Tools/autotest/common.py
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@ -4839,7 +4839,7 @@ Also, ignores heartbeats not from our target system'''
if new_pct < reached_pct[cid]:
raise NotAchievedException("Mag calibration restart when it shouldn't")
reached_pct[cid] = new_pct
self.progress("Calibration progress compass ID %d: %s" % (cid, str(reached_pct[cid])))
self.progress("Calibration progress compass ID %d: %s%%" % (cid, str(reached_pct[cid])))
if cid == 0 and 13 <= reached_pct[0] <= 15:
self.progress("Request again to start calibration, it shouldn't restart from 0")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL,
@ -4902,7 +4902,7 @@ Also, ignores heartbeats not from our target system'''
new_pct = int(m.completion_pct)
if new_pct != reached_pct[cid]:
reached_pct[cid] = new_pct
self.progress("Calibration progress compass ID %d: %s" % (cid, str(reached_pct[cid])))
self.progress("Calibration progress compass ID %d: %s%%" % (cid, str(reached_pct[cid])))
if cid == 0 and 49 <= reached_pct[0] <= 50:
self.progress("Try arming during calibration, should failed")
self.try_arm(False, "Compass calibration running")
@ -4926,6 +4926,11 @@ Also, ignores heartbeats not from our target system'''
if m.get_type() == "MAG_CAL_REPORT":
if report_get[m.compass_id] == 0:
self.progress("Report: %s" % self.dump_message_verbose(m))
param_names = ["SIM_MAG_ORIENT"]
for i in range(2, compass_tnumber+1):
param_names.append("SIM_MAG%u_ORIENT" % i)
for param_name in param_names:
self.progress("%s=%f" % (param_name, self.get_parameter(param_name)))
if m.cal_status == mavutil.mavlink.MAG_CAL_SUCCESS:
if reached_pct[m.compass_id] < 99:
raise NotAchievedException("Mag calibration report SUCCESS without 100%% completion")