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Tools: Allow dead reckoning test longer to learn wind if no aspd sensor

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Paul Riseborough 2023-09-27 08:21:06 +10:00 committed by Andrew Tridgell
parent 87bf8d9997
commit 8639543cdd
1 changed files with 7 additions and 3 deletions
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10
Tools/autotest/arduplane.py
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@ -2188,10 +2188,14 @@ class AutoTestPlane(vehicle_test_suite.TestSuite):
frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
) )
self.wait_location(loc, accuracy=100) self.wait_location(loc, accuracy=100)
self.progress("Stewing") self.progress("Orbit with GPS and learn wind")
self.delay_sim_time(20) # allow longer to learn wind if there is no airspeed sensor
if disable_airspeed_sensor:
self.delay_sim_time(60)
else:
self.delay_sim_time(20)
self.set_parameter("SIM_GPS_DISABLE", 1) self.set_parameter("SIM_GPS_DISABLE", 1)
self.progress("Roasting") self.progress("Continue orbit without GPS")
self.delay_sim_time(20) self.delay_sim_time(20)
self.change_mode("RTL") self.change_mode("RTL")
self.wait_distance_to_home(100, 200, timeout=200) self.wait_distance_to_home(100, 200, timeout=200)