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autotest: add test for needing AHRS to be healthy to arm

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Peter Barker 2020-12-10 19:06:22 +11:00 committed by Andrew Tridgell
parent 9ad2961664
commit 813723d0b7
1 changed files with 24 additions and 0 deletions
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24
Tools/autotest/arduplane.py
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@ -147,6 +147,26 @@ class AutoTestPlane(AutoTest):
timeout=180)
self.progress("RTL Complete")
def test_need_ekf_to_arm(self):
"""Loiter where we are."""
self.progress("Ensuring we need EKF to be healthy to arm")
self.reboot_sitl()
self.context_collect("STATUSTEXT")
tstart = self.get_sim_time()
success = False
while not success:
if self.get_sim_time_cached() - tstart > 60:
raise NotAchievedException("Did not get correct failure reason")
self.send_mavlink_arm_command()
try:
self.wait_statustext(".*(AHRS not healthy|AHRS: Not healthy).*", timeout=1, check_context=True, regex=True)
success = True
continue
except AutoTestTimeoutException:
pass
if self.armed():
raise NotAchievedException("Armed unexpectedly")
def fly_LOITER(self, num_circles=4):
"""Loiter where we are."""
self.progress("Testing LOITER for %u turns" % num_circles)
@ -2024,6 +2044,10 @@ class AutoTestPlane(AutoTest):
"Fly throttle failsafe",
self.test_throttle_failsafe),
("NeedEKFToArm",
"Ensure we need EKF to be healthy to arm",
self.test_need_ekf_to_arm),
("ThrottleFailsafeFence",
"Fly fence survives throttle failsafe",
self.test_throttle_failsafe_fence),