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autotest: reliability improvements for EKF failover tests

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Peter Barker 2020-12-30 18:28:29 +11:00 committed by Peter Barker
parent 8e6278f269
commit 8abf9a82f3
1 changed files with 13 additions and 8 deletions
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21
Tools/autotest/arducopter.py
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@ -1640,38 +1640,43 @@ class AutoTestCopter(AutoTest):
self.takeoff(10, mode="LOITER")
self.mavproxy.send('mode CIRCLE\n')
self.wait_mode('CIRCLE')
self.change_mode('CIRCLE')
self.delay_sim_time(20)
self.context_collect("STATUSTEXT")
self.progress("Failing first compass")
self.set_parameter("SIM_MAG1_FAIL", 1)
# we want for the message twice, one for EK2 and again for EK3
self.wait_statustext("IMU0 switching to compass 1")
self.wait_statustext("IMU0 switching to compass 1")
self.wait_statustext("EKF2 IMU0 switching to compass 1", check_context=True)
self.wait_statustext("EKF3 IMU0 switching to compass 1", check_context=True)
self.progress("compass switch 1 OK")
self.delay_sim_time(2)
self.context_clear_collection("STATUSTEXT")
self.progress("Failing 2nd compass")
self.set_parameter("SIM_MAG2_FAIL", 1)
self.wait_statustext("IMU0 switching to compass 2")
self.wait_statustext("IMU0 switching to compass 2")
self.wait_statustext("EKF2 IMU0 switching to compass 2", check_context=True)
self.wait_statustext("EKF3 IMU0 switching to compass 2", check_context=True)
self.progress("compass switch 2 OK")
self.delay_sim_time(2)
self.context_clear_collection("STATUSTEXT")
self.progress("Failing 3rd compass")
self.set_parameter("SIM_MAG3_FAIL", 1)
self.delay_sim_time(2)
self.set_parameter("SIM_MAG1_FAIL", 0)
self.wait_statustext("IMU0 switching to compass 0")
self.wait_statustext("IMU0 switching to compass 0")
self.wait_statustext("EKF2 IMU0 switching to compass 0", check_context=True)
self.wait_statustext("EKF3 IMU0 switching to compass 0", check_context=True)
self.progress("compass switch 0 OK")
self.do_RTL()