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autotest: test GPS input using different simulated GPSs

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Peter Barker 2021-09-25 15:50:19 +10:00 committed by Peter Barker
parent 0d03cef48b
commit 6ae280a5d7
2 changed files with 30 additions and 0 deletions
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5
Tools/autotest/arducopter.py
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@ -7891,6 +7891,11 @@ class AutoTestCopter(AutoTest):
"Change speed (down) during misison",
self.WPNAV_SPEED_DN),
Test("GPSTypes",
"Test simulated GPS types",
self.GPSTypes),
Test("LogUpload",
"Log upload",
self.log_upload),

25
Tools/autotest/common.py
View File

@ -10720,6 +10720,31 @@ switch value'''
self.reboot_sitl()
self.delay_sim_time(2) # we update orientation on a timer
def GPSTypes(self):
'''check each simulated GPS works'''
self.reboot_sitl()
orig = self.poll_home_position(timeout=60)
sim_gps = [
# (0, "NONE"),
(1, "UBLOX"),
# (2, "MTK"), # broken
(3, "MTK16"),
(4, "MTK19"),
# (5, "NMEA"), # broken
(6, "SBP"),
# (7, "SBP2"), # broken
# (8, "NOVA"), # broken
# (9, "FILE"),
]
for (sim_gps_type, name) in sim_gps:
self.start_subtest("Checking GPS type %s" % name)
self.set_parameter("SIM_GPS_TYPE", sim_gps_type)
self.reboot_sitl()
n = self.poll_home_position(timeout=120)
distance = self.get_distance_int(orig, n)
if distance > 1:
raise NotAchievedException("gps type %u misbehaving" % name)
def tests(self):
return [
Test("PIDTuning",