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Tools: add support for ms5525 i2c sensor

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Peter Barker 2021-07-12 11:55:36 +10:00 committed by Peter Barker
parent 7375d1949c
commit 9fb7ef915e
1 changed files with 37 additions and 5 deletions
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42
Tools/autotest/arduplane.py
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@ -2193,12 +2193,44 @@ class AutoTestPlane(AutoTest):
self.progress("Mission OK")
def test_airspeed_drivers(self):
self.set_parameter("ARSPD_BUS", 2)
self.set_parameter("ARSPD_TYPE", 7) # DLVR
airspeed_sensors = [
("MS5525", 3, 1),
("DLVR", 7, 2),
]
for (name, t, bus) in airspeed_sensors:
self.context_push()
if bus is not None:
self.set_parameter("ARSPD2_BUS", bus)
self.set_parameter("ARSPD2_TYPE", t)
self.reboot_sitl()
self.wait_ready_to_arm()
self.arm_vehicle()
# insert listener to compare airspeeds:
airspeed = [None, None]
def check_airspeeds(mav, m):
m_type = m.get_type()
if (m_type == 'NAMED_VALUE_FLOAT' and
m.name == 'AS2'):
airspeed[1] = m.value
elif m_type == 'VFR_HUD':
airspeed[0] = m.airspeed
else:
return
if airspeed[0] is None or airspeed[1] is None:
return
delta = abs(airspeed[0] - airspeed[1])
if delta > 2:
raise NotAchievedException("Airspeed mismatch (as1=%f as2=%f)" % (airspeed[0], airspeed[1]))
self.install_message_hook_context(check_airspeeds)
self.fly_mission("ap1.txt", strict=False)
if airspeed[0] is None:
raise NotAchievedException("Never saw an airspeed1")
if airspeed[1] is None:
raise NotAchievedException("Never saw an airspeed2")
self.context_pop()
self.reboot_sitl()
self.wait_ready_to_arm()
self.arm_vehicle()
self.fly_mission("ap1.txt", strict=False)
def fly_terrain_mission(self):