From b18e5966f7b3f2468d2ef5245b5793379c1c7915 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 15 Jan 2021 16:39:15 +0900 Subject: [PATCH] Tools: fixes from peer review as AHRS default changed to EKF3 --- Tools/autotest/arducopter.py | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 2f3681f023..029b9be941 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -1822,7 +1822,6 @@ class AutoTestCopter(AutoTest): ex = e self.set_rc(2, 1500) - self.set_rc(3, 1500) self.context_pop() self.disarm_vehicle(force=True) self.reboot_sitl() @@ -2208,11 +2207,16 @@ class AutoTestCopter(AutoTest): ex = None try: + # configure EKF to use external nav instead of GPS + ahrs_ekf_type = self.get_parameter("AHRS_EKF_TYPE") + if ahrs_ekf_type == 2: + self.set_parameter("EK2_GPS_TYPE", 3) + if ahrs_ekf_type == 3: + self.set_parameter("EK3_SRC1_POSXY", 6) + self.set_parameter("EK3_SRC1_VELXY", 6) + self.set_parameter("EK3_SRC1_POSZ", 6) + self.set_parameter("EK3_SRC1_VELZ", 6) self.set_parameter("GPS_TYPE", 0) - self.set_parameter("EK3_SRC1_POSXY", 6) - self.set_parameter("EK3_SRC1_VELXY", 6) - self.set_parameter("EK3_SRC1_POSZ", 6) - self.set_parameter("EK3_SRC1_VELZ", 6) self.set_parameter("VISO_TYPE", 1) self.set_parameter("SERIAL5_PROTOCOL", 1) self.reboot_sitl() @@ -5712,7 +5716,7 @@ class AutoTestCopter(AutoTest): # 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") + raise NotAchievedException("Changed to ALT_HOLD with no altitude estimate") except Exception as e: self.progress("Exception caught: %s" % (