Tools: Autotest: Test for EAHRS misconfiguration prearm failure

Signed-off-by: Ryan Friedman <[email protected]>
Ryanf55 · Mar 26, 2024 · 79133b7 · 79133b7
1 parent 485ff27
commit 79133b7
Showing 1 changed file with 28 additions and 1 deletion.
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
@@ -3169,7 +3169,7 @@ def TerrainLoiter(self):
         self.fly_home_land_and_disarm(240)
 
     def fly_external_AHRS(self, sim, eahrs_type, mission):
-        """Fly with external AHRS (VectorNav)"""
+        """Fly with external AHRS"""
         self.customise_SITL_commandline(["--serial4=sim:%s" % sim])
 
         self.set_parameters({
@@ -3293,6 +3293,32 @@ def InertialLabsEAHRS(self):
         '''Test InertialLabs EAHRS support'''
         self.fly_external_AHRS("ILabs", 5, "ap1.txt")
 
+    def GpsSensorPreArmEAHRS(self):
+        '''Test pre-arm failure with misconfigured EAHRS_SENSORS using the MicroStrain7 driver'''
+        self.customise_SITL_commandline(["--serial4=sim:MicroStrain7"])
+
+        self.set_parameters({
+            "EAHRS_TYPE": 7,
+            "SERIAL4_PROTOCOL": 36,
+            "SERIAL4_BAUD": 230400,
+            "GPS1_TYPE": 0, # Disabled (simulate user setup error)
+            "AHRS_EKF_TYPE": 11,
+            "INS_GYR_CAL": 1,
+            "EAHRS_SENSORS": 13, # GPS is enabled
+        })
+        self.reboot_sitl()
+        self.delay_sim_time(5)
+        self.progress("Running accelcal")
+        self.run_cmd(
+            mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
+            p5=4,
+            timeout=5,
+        )
+
+        self.assert_prearm_failure("ExternalAHRS: Incorrect number", # Cut short due to message limits. 
+                                   timeout=30,
+                                   other_prearm_failures_fatal=False)
+
     def get_accelvec(self, m):
         return Vector3(m.xacc, m.yacc, m.zacc) * 0.001 * 9.81
 
@@ -5408,6 +5434,7 @@ def tests(self):
             self.MicroStrainEAHRS5,
             self.MicroStrainEAHRS7,
             self.InertialLabsEAHRS,
+            self.GpsSensorPreArmEAHRS,
             self.Deadreckoning,
             self.DeadreckoningNoAirSpeed,
             self.EKFlaneswitch,