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autotest: use set_parameters() in IMU temp cal test

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Andrew Tridgell 2021-01-14 12:16:39 +11:00 committed by Peter Barker
parent 0c3655b01f
commit 30385fb8cb
1 changed files with 10 additions and 12 deletions
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22
Tools/autotest/arduplane.py
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@ -1899,7 +1899,9 @@ class AutoTestPlane(AutoTest):
return Vector3(m.xgyro, m.ygyro, m.zgyro) * 0.001 * math.degrees(1) return Vector3(m.xgyro, m.ygyro, m.zgyro) * 0.001 * math.degrees(1)
def test_imu_tempcal(self): def test_imu_tempcal(self):
params = { self.progress("Setting up SITL temperature profile")
self.set_parameters({
"SIM_IMUT1_ENABLE" : 1,
"SIM_IMUT1_ACC1_X" : 120000.000000, "SIM_IMUT1_ACC1_X" : 120000.000000,
"SIM_IMUT1_ACC1_Y" : -190000.000000, "SIM_IMUT1_ACC1_Y" : -190000.000000,
"SIM_IMUT1_ACC1_Z" : 1493.864746, "SIM_IMUT1_ACC1_Z" : 1493.864746,
@ -1909,7 +1911,6 @@ class AutoTestPlane(AutoTest):
"SIM_IMUT1_ACC3_X" : -0.514242, "SIM_IMUT1_ACC3_X" : -0.514242,
"SIM_IMUT1_ACC3_Y" : 0.862218, "SIM_IMUT1_ACC3_Y" : 0.862218,
"SIM_IMUT1_ACC3_Z" : -234.000000, "SIM_IMUT1_ACC3_Z" : -234.000000,
"SIM_IMUT1_ENABLE" : 1,
"SIM_IMUT1_GYR1_X" : -5122.513817, "SIM_IMUT1_GYR1_X" : -5122.513817,
"SIM_IMUT1_GYR1_Y" : -3250.470428, "SIM_IMUT1_GYR1_Y" : -3250.470428,
"SIM_IMUT1_GYR1_Z" : -2136.346676, "SIM_IMUT1_GYR1_Z" : -2136.346676,
@ -1921,6 +1922,7 @@ class AutoTestPlane(AutoTest):
"SIM_IMUT1_GYR3_Z" : 0.015457, "SIM_IMUT1_GYR3_Z" : 0.015457,
"SIM_IMUT1_TMAX" : 42.0, "SIM_IMUT1_TMAX" : 42.0,
"SIM_IMUT1_TMIN" : 4.000000, "SIM_IMUT1_TMIN" : 4.000000,
"SIM_IMUT2_ENABLE" : 1,
"SIM_IMUT2_ACC1_X" : -160000.000000, "SIM_IMUT2_ACC1_X" : -160000.000000,
"SIM_IMUT2_ACC1_Y" : 198730.000000, "SIM_IMUT2_ACC1_Y" : 198730.000000,
"SIM_IMUT2_ACC1_Z" : 27812.000000, "SIM_IMUT2_ACC1_Z" : 27812.000000,
@ -1930,7 +1932,6 @@ class AutoTestPlane(AutoTest):
"SIM_IMUT2_ACC3_X" : 0.102912, "SIM_IMUT2_ACC3_X" : 0.102912,
"SIM_IMUT2_ACC3_Y" : 0.229734, "SIM_IMUT2_ACC3_Y" : 0.229734,
"SIM_IMUT2_ACC3_Z" : 172.000000, "SIM_IMUT2_ACC3_Z" : 172.000000,
"SIM_IMUT2_ENABLE" : 1,
"SIM_IMUT2_GYR1_X" : 3173.925644, "SIM_IMUT2_GYR1_X" : 3173.925644,
"SIM_IMUT2_GYR1_Y" : -2368.312836, "SIM_IMUT2_GYR1_Y" : -2368.312836,
"SIM_IMUT2_GYR1_Z" : -1796.497177, "SIM_IMUT2_GYR1_Z" : -1796.497177,
@ -1947,10 +1948,7 @@ class AutoTestPlane(AutoTest):
"SIM_IMUT_TCONST" : 75.000000, "SIM_IMUT_TCONST" : 75.000000,
"SIM_DRIFT_SPEED" : 0, "SIM_DRIFT_SPEED" : 0,
"INS_GYR_CAL" : 1, "INS_GYR_CAL" : 1,
} })
self.progress("Setting up SITL temperature profile")
for p in params.keys():
self.set_parameter(p, params[p])
self.progress("Running accelcal") self.progress("Running accelcal")
self.set_parameter("SIM_IMUT_FIXED", 35) self.set_parameter("SIM_IMUT_FIXED", 35)
@ -1961,11 +1959,11 @@ class AutoTestPlane(AutoTest):
self.set_parameter("INS_TCAL1_ENABLE", 2) self.set_parameter("INS_TCAL1_ENABLE", 2)
self.set_parameter("INS_TCAL2_ENABLE", 2) self.set_parameter("INS_TCAL2_ENABLE", 2)
self.fetch_parameters() self.fetch_parameters()
self.set_parameter("INS_TCAL1_TMAX", 42) self.set_parameters({"INS_TCAL1_TMAX" : 42,
self.set_parameter("INS_TCAL2_TMAX", 42) "INS_TCAL2_TMAX" : 42,
self.set_parameter("INS_TCAL1_TMIN", 15) "INS_TCAL1_TMIN" : 15,
self.set_parameter("INS_TCAL2_TMIN", 15) "INS_TCAL2_TMIN" : 15,
self.set_parameter("SIM_SPEEDUP", 200) "SIM_SPEEDUP" : 200})
self.mavproxy.send("set streamrate 1\n") self.mavproxy.send("set streamrate 1\n")
self.set_parameter("LOG_DISARMED", 1) self.set_parameter("LOG_DISARMED", 1)
self.reboot_sitl() self.reboot_sitl()