aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

autotest: calibrate two airspeed sensors in-flight

Browse Source
This commit is contained in:
Peter Barker 2022-05-13 13:44:35 +10:00 committed by Peter Barker
parent dd4ec47aa2
commit cebb57266d
1 changed files with 24 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

35
Tools/autotest/arduplane.py
View File

@ -1689,24 +1689,37 @@ class AutoTestPlane(AutoTest):
self.progress("Ensure no AIRSPEED_AUTOCAL on ground")
self.set_parameters({
"ARSPD_AUTOCAL": 1,
"ARSPD_PIN": 2,
"ARSPD_RATIO": 0,
"ARSPD2_RATIO": 4,
"ARSPD2_TYPE": 3, # MS5525
"ARSPD2_BUS": 1,
"ARSPD2_AUTOCAL": 1,
"SIM_ARSPD2_OFS": 1900, # default is 2013
"RTL_AUTOLAND": 1,
})
m = self.mav.recv_match(type='AIRSPEED_AUTOCAL',
blocking=True,
timeout=5)
if m is not None:
raise NotAchievedException("Got autocal on ground")
self.context_collect('STATUSTEXT')
self.reboot_sitl()
self.assert_not_receive_message('AIRSPEED_AUTOCAL', timeout=5)
# these are boot-time calibration messages:
self.wait_statustext('Airspeed 1 calibrated', check_context=True, timeout=30)
self.wait_statustext('Airspeed 2 calibrated', check_context=True)
mission_filepath = "flaps.txt"
num_wp = self.load_mission(mission_filepath)
self.load_mission(mission_filepath)
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode("AUTO")
self.progress("Ensure AIRSPEED_AUTOCAL in air")
m = self.mav.recv_match(type='AIRSPEED_AUTOCAL',
blocking=True,
timeout=5)
self.wait_waypoint(7, num_wp-1, max_dist=5, timeout=500)
self.wait_disarmed(timeout=120)
self.assert_receive_message('AIRSPEED_AUTOCAL')
self.wait_statustext("Airspeed 0 ratio reset", check_context=True, timeout=70)
# we only autocal the primary sensor?!
self.set_parameter('ARSPD_PRIMARY', 1)
self.wait_statustext("Airspeed 1 ratio reset", check_context=True, timeout=70)
self.fly_home_land_and_disarm()
def deadreckoning_main(self, disable_airspeed_sensor=False):
self.wait_ready_to_arm()