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Tools: Copter.AltEstimation fixes

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disable baro so EKF has no altitude estimate
add check that mode change to ALT_HOLD failed
This commit is contained in:
Randy Mackay 2020-12-09 11:15:41 +09:00
parent 1f8b48e8f7
commit 9c56b406be
1 changed files with 18 additions and 2 deletions
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20
Tools/autotest/arducopter.py
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@ -5677,17 +5677,33 @@ class AutoTestCopter(AutoTest):
self.context_push()
ex = None
try:
self.set_parameter("EK2_ALT_SOURCE", 2)
# disable barometer so there is no altitude source
self.set_parameter("SIM_BARO_DISABLE", 1)
self.set_parameter("SIM_BARO2_DISABL", 1)
self.wait_gps_disable(position_vertical=True)
# turn off arming checks (mandatory arming checks will still be run)
self.set_parameter("ARMING_CHECK", 0)
# delay 12 sec to allow EKF to lose altitude estimate
self.delay_sim_time(12)
self.change_mode("ALT_HOLD")
self.assert_prearm_failure("Need Alt Estimate")
# force arm vehicle in stabilize to bypass barometer pre-arm checks
self.change_mode("STABILIZE")
self.arm_vehicle()
self.takeoff()
self.set_rc(3, 1700)
try:
self.change_mode("ALT_HOLD", timeout=10)
except AutoTestTimeoutException:
self.progress("PASS not able to set mode without Position : %s" % "ALT_HOLD")
# check that mode change to ALT_HOLD has failed (it should)
if self.mode_is("ALT_HOLD"):
raise NotAchievedException("FAIL - Changed to ALT_HOLD with no altitude estimate")
except Exception as e:
self.progress("Exception caught: %s" % (
self.get_exception_stacktrace(e)))