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autotest: add a test for compass yaw sources

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Peter Barker 2020-11-23 10:18:11 +11:00 committed by Peter Barker
parent cf2b3d9bc6
commit 9e20f4a68d
1 changed files with 34 additions and 0 deletions
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34
Tools/autotest/arducopter.py
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@ -5432,6 +5432,36 @@ class AutoTestCopter(AutoTest):
ex = e
self.context_pop()
self.disarm_vehicle(force=True)
if ex is not None:
raise ex
def test_ekf_source(self):
self.context_push()
ex = None
try:
self.set_parameter("EK3_ENABLE", 1)
self.set_parameter("AHRS_EKF_TYPE", 3)
self.wait_ready_to_arm()
self.start_subtest("bad yaw source")
self.set_parameter("EK3_SRC3_YAW", 17)
self.assert_prearm_failure("Check EK3_SRC3_YAW")
self.context_push()
self.start_subtest("missing required yaw source")
self.set_parameter("EK3_SRC3_YAW", 1)
self.set_parameter("COMPASS_USE", 0)
self.set_parameter("COMPASS_USE2", 0)
self.set_parameter("COMPASS_USE3", 0)
self.assert_prearm_failure("EK3 sources require Compass")
self.context_pop()
except Exception as e:
self.disarm_vehicle(force=True)
ex = e
self.context_pop()
if ex is not None:
raise ex
def test_replay(self):
'''test replay correctness'''
@ -5837,6 +5867,10 @@ class AutoTestCopter(AutoTest):
"Test that Alt Estimation is mandatory for ALT_HOLD",
self.test_alt_estimate_prearm), #20secs ish
("EKFSource",
"Check EKF Source Prearms work",
self.test_ekf_source),
("DataFlash",
"Test DataFlash Block backend",
self.test_dataflash_sitl),