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Tools: autotest: wait_ekf_happy checks status bits rather than value

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Based on discussions prompted by @khancyr's PR
https://github.com/ArduPilot/ardupilot/pull/8022

Check that we have bits set we want set and that bits we don't want set
aren't set.  In the future we might take these bit sets as parameters.
This commit is contained in:
Peter Barker 2018-07-16 10:59:45 +10:00
parent a8647f834e
commit b47c63c7bd
1 changed files with 18 additions and 2 deletions
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20
Tools/autotest/common.py
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@ -698,7 +698,19 @@ class AutoTest(ABC):
"""Wait for EKF to be happy"""
tstart = self.get_sim_time()
required_value = 831
# all of these must be set for arming to happen:
required_value = (mavutil.mavlink.EKF_ATTITUDE |
mavutil.mavlink.ESTIMATOR_VELOCITY_HORIZ |
mavutil.mavlink.ESTIMATOR_VELOCITY_VERT |
mavutil.mavlink.ESTIMATOR_POS_HORIZ_REL |
mavutil.mavlink.ESTIMATOR_POS_HORIZ_ABS |
mavutil.mavlink.ESTIMATOR_POS_VERT_ABS |
mavutil.mavlink.ESTIMATOR_PRED_POS_HORIZ_REL |
mavutil.mavlink.ESTIMATOR_PRED_POS_HORIZ_ABS)
# none of these bits must be set for arming to happen:
error_bits = (mavutil.mavlink.ESTIMATOR_CONST_POS_MODE |
mavutil.mavlink.ESTIMATOR_GPS_GLITCH |
mavutil.mavlink.ESTIMATOR_ACCEL_ERROR)
self.progress("Waiting for EKF value %u" % required_value)
while timeout is None or self.get_sim_time() < tstart + timeout:
m = self.mav.recv_match(type='EKF_STATUS_REPORT', blocking=True)
@ -706,7 +718,11 @@ class AutoTest(ABC):
if (tstart - self.get_sim_time()) % 5 == 0:
self.progress("Wait EKF.flags: required:%u current:%u" %
(required_value, current))
if current == required_value:
errors = current & error_bits
if errors:
self.progress("Wait EKF.flags: errors=%u" % errors)
continue
if (current & required_value == required_value):
self.progress("EKF Flags OK")
return True
self.progress("Failed to get EKF.flags=%u" % required_value)