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autotest: add test for live change of AHRS orientation

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This commit is contained in:
Peter Barker 2021-07-27 15:02:06 +10:00 committed by Peter Barker
parent 5160b4f6ca
commit da3ff2c142
2 changed files with 26 additions and 1 deletions
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4
Tools/autotest/arduplane.py
View File

@ -3182,6 +3182,10 @@ class AutoTestPlane(AutoTest):
"Test RC DisableAirspeedUse option",
self.RCDisableAirspeedUse),
("AHRS_ORIENTATION",
"Test AHRS_ORIENTATION parameter",
self.AHRS_ORIENTATION),
("LogUpload",
"Log upload",
self.log_upload),

23
Tools/autotest/common.py
View File

@ -3122,8 +3122,10 @@ class AutoTest(ABC):
raise ValueError("count %u not handled" % count)
self.progress("Files same")
def assert_receive_message(self, type, timeout=1):
def assert_receive_message(self, type, timeout=1, verbose=False):
m = self.mav.recv_match(type=type, blocking=True, timeout=timeout)
if verbose:
self.progress("Received (%s)" % str(m))
if m is None:
raise NotAchievedException("Did not get %s" % type)
return m
@ -10389,6 +10391,25 @@ switch value'''
if ex is not None:
raise ex
def AHRS_ORIENTATION(self):
'''test AHRS_ORIENTATION parameter works'''
self.context_push()
self.wait_ready_to_arm()
original_imu = self.assert_receive_message("RAW_IMU", verbose=True)
self.set_parameter("AHRS_ORIENTATION", 16) # roll-90
self.delay_sim_time(2) # we update this on a timer
new_imu = self.assert_receive_message("RAW_IMU", verbose=True)
delta_zacc = original_imu.zacc - new_imu.zacc
delta_z_g = delta_zacc/1000.0 # milligravities -> gravities
if delta_z_g - 1 > 0.1: # milligravities....
raise NotAchievedException("Magic AHRS_ORIENTATION update did not work (delta_z_g=%f)" % (delta_z_g,))
delta_yacc = original_imu.yacc - new_imu.yacc
delta_y_g = delta_yacc/1000.0 # milligravities -> gravities
if delta_y_g + 1 > 0.1:
raise NotAchievedException("Magic AHRS_ORIENTATION update did not work (delta_y_g=%f)" % (delta_y_g,))
self.context_pop()
self.delay_sim_time(2) # we update orientation on a timer
def tests(self):
return [
Test("PIDTuning",