From 3dff0b3d5846930a467eaa8275d900e5f081cd19 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 8 Nov 2020 21:27:48 +1100
Subject: [PATCH] autotest: removed dcm yaw test

this should not be part of replay PR
---
 Tools/autotest/arducopter.py | 69 ------------------------------------
 1 file changed, 69 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 47e6a8be3b..54464a14c2 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -5292,71 +5292,6 @@ class AutoTestCopter(AutoTest):
         self.context_pop()
         self.disarm_vehicle(force=True)
 
-    def test_dcm_yaw_inconsistent(self):
-        self.context_push()
-        ex = None
-        try:
-            self.set_parameter("LOG_REPLAY", 1)
-            self.reboot_sitl()
-
-            current_log_filepath = self.current_onboard_log_filepath()
-
-            self.context_collect("STATUSTEXT")
-            self.set_parameter("EK2_ENABLE", 0)
-            self.set_parameter("EK3_ENABLE", 1)
-            self.set_parameter("AHRS_EKF_TYPE", 3)
-            self.set_parameter("COMPASS_USE2", 0)
-            self.set_parameter("COMPASS_USE3", 0)
-            self.set_parameter("SIM_MAG_ORIENT", 2)
-#            self.wait_statustext("PreArm: Compasses inconsistent", timeout=20)
-            self.wait_statustext("Yaw inconsistent by",
-                                 timeout=60,
-                                 check_context=True)
-            self.context_stop_collecting('STATUSTEXT')
-            self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
-                         1,  # ARM
-                         0,
-                         0,
-                         0,
-                         0,
-                         0,
-                         0,
-                         want_result=mavutil.mavlink.MAV_RESULT_FAILED
-            )
-            self.set_parameter("SIM_MAG_ORIENT", 0)
-            tstart = self.get_sim_time()
-            while True:
-                if self.get_sim_time_cached() - tstart > 10:
-                    raise NotAchievedException("Did not recover from bad mag")
-                try:
-                    self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
-                                 1,  # ARM
-                                 0,
-                                 0,
-                                 0,
-                                 0,
-                                 0,
-                                 0,
-                                 )
-                    break
-                    self.delay_sim_time(1)
-                except ValueError as e:
-                    pass
-
-        except Exception as e:
-            self.progress("Caught exception: %s" %
-                          self.get_exception_stacktrace(e))
-            ex = e
-        self.context_pop()
-        self.disarm_vehicle()
-        self.reboot_sitl()
-
-        self.progress("Current log path: %s" % str(current_log_filepath))
-#        self.replay_log(current_log_filepath)
-
-        if ex is not None:
-            raise ex
-
     # a wrapper around all the 1A,1B,1C..etc tests for travis
     def tests1(self):
         ret = ([])
@@ -5701,10 +5636,6 @@ class AutoTestCopter(AutoTest):
              "Test DataFlash Block backend erase",
              self.test_dataflash_erase),
 
-            ("DCMYawInconsistent",
-             "Test Arming with bad compass orientation",
-             self.test_dcm_yaw_inconsistent),
-
             ("LogUpload",
              "Log upload",
              self.log_upload),