def check_mag(conn):
'''check mags'''
magx = util.wait_field(conn.testmav, 'RAW_IMU', 'xmag')
magy = util.wait_field(conn.testmav, 'RAW_IMU', 'ymag')
magz = util.wait_field(conn.testmav, 'RAW_IMU', 'zmag')
field = sqrt(magx**2 + magy**2 + magz**2)
if field < 100 or field > 2000:
util.failure("Bad magnetic field (%u, %u, %u, %.1f)" % (magx, magy, magz, field))
logger.info("Magnetometer OK")
def check_mag(conn):
'''check mags'''
magx = util.wait_field(conn.testmav, 'RAW_IMU', 'xmag')
magy = util.wait_field(conn.testmav, 'RAW_IMU', 'ymag')
magz = util.wait_field(conn.testmav, 'RAW_IMU', 'zmag')
field = sqrt(magx**2 + magy**2 + magz**2)
if field < 100 or field > 2000:
util.failure("Bad magnetic field (%u, %u, %u, %.1f)" %
(magx, magy, magz, field))
logger.info("Magnetometer OK")
def check_power(conn):
'''check power'''
ref_vcc = util.wait_field(conn.refmav, 'POWER_STATUS', 'Vcc')*0.001
test_vcc = util.wait_field(conn.testmav, 'POWER_STATUS', 'Vcc')*0.001
if abs(ref_vcc - test_vcc) > VOLTAGE_TOLERANCE:
util.failure("Vcc error %.2f should be %.2f" % (test_vcc, ref_vcc))
ref_vservo = util.wait_field(conn.refmav, 'POWER_STATUS', 'Vservo')*0.001
test_vservo = util.wait_field(conn.testmav, 'POWER_STATUS', 'Vservo')*0.001
if abs(ref_vservo - test_vservo) > VOLTAGE_TOLERANCE:
util.failure("Vservo error %.2f should be %.2f" % (test_vservo, ref_vservo))
test_flags = util.wait_field(conn.testmav, 'POWER_STATUS', 'flags')
pflags = mavutil.mavlink.MAV_POWER_STATUS_BRICK_VALID
pflags |= mavutil.mavlink.MAV_POWER_STATUS_SERVO_VALID
pflags |= mavutil.mavlink.MAV_POWER_STATUS_USB_CONNECTED
if test_flags != pflags:
util.failure("power flags error %u should be %u" % (test_flags, pflags))
logger.info("Voltages OK")
def check_baro(conn):
'''check baros'''
ref_press = util.wait_field(conn.refmav, 'SCALED_PRESSURE', 'press_abs')
if ref_press is None:
util.failure("No reference pressure")
press1 = util.wait_field(conn.testmav, 'SCALED_PRESSURE', 'press_abs')
press2 = util.wait_field(conn.testmav, 'SCALED_PRESSURE2', 'press_abs')
if press1 is None:
util.failure("No pressure1 available")
if press2 is None:
util.failure("No pressure2 available")
if abs(ref_press - press1) > PRESSURE_TOLERANCE:
util.failure("Baro1 error pressure=%f should be %f" %
(press1, ref_press))
if abs(ref_press - press2) > PRESSURE_TOLERANCE:
util.failure("Baro2 error pressure=%f should be %f" %
(press2, ref_press))
ref_temp = util.wait_field(conn.refmav, 'SCALED_PRESSURE',
'temperature') * 0.01
temp1 = util.wait_field(conn.testmav, 'SCALED_PRESSURE',
'temperature') * 0.01
temp2 = util.wait_field(conn.testmav, 'SCALED_PRESSURE2',
'temperature') * 0.01
if abs(ref_temp - temp1) > TEMPERATURE_TOLERANCE:
util.failure("Baro1 error temperature=%f should be %f" %
(temp1, ref_temp))
if abs(ref_temp - temp2) > TEMPERATURE_TOLERANCE:
util.failure("Baro2 error temperature=%f should be %f" %
(temp2, ref_temp))
logger.info("Baros OK")
def check_power(conn):
'''check power'''
ref_vcc = util.wait_field(conn.refmav, 'POWER_STATUS', 'Vcc') * 0.001
test_vcc = util.wait_field(conn.testmav, 'POWER_STATUS', 'Vcc') * 0.001
if abs(ref_vcc - test_vcc) > VOLTAGE_TOLERANCE:
util.failure("Vcc error %.2f should be %.2f" % (test_vcc, ref_vcc))
ref_vservo = util.wait_field(conn.refmav, 'POWER_STATUS', 'Vservo') * 0.001
test_vservo = util.wait_field(conn.testmav, 'POWER_STATUS',
'Vservo') * 0.001
if abs(ref_vservo - test_vservo) > VOLTAGE_TOLERANCE:
util.failure("Vservo error %.2f should be %.2f" %
(test_vservo, ref_vservo))
test_flags = util.wait_field(conn.testmav, 'POWER_STATUS', 'flags')
pflags = mavutil.mavlink.MAV_POWER_STATUS_BRICK_VALID
pflags |= mavutil.mavlink.MAV_POWER_STATUS_SERVO_VALID
pflags |= mavutil.mavlink.MAV_POWER_STATUS_USB_CONNECTED
if test_flags != pflags:
util.failure("power flags error %u should be %u" %
(test_flags, pflags))
logger.info("Voltages OK")
def check_baro(conn):
'''check baros'''
ref_press = util.wait_field(conn.refmav, 'SCALED_PRESSURE', 'press_abs')
if ref_press is None:
util.failure("No reference pressure")
press1 = util.wait_field(conn.testmav, 'SCALED_PRESSURE', 'press_abs')
press2 = util.wait_field(conn.testmav, 'SCALED_PRESSURE2', 'press_abs')
if press1 is None:
util.failure("No pressure1 available")
if press2 is None:
util.failure("No pressure2 available")
if abs(ref_press - press1) > PRESSURE_TOLERANCE:
util.failure("Baro1 error pressure=%f should be %f" % (press1, ref_press))
if abs(ref_press - press2) > PRESSURE_TOLERANCE:
util.failure("Baro2 error pressure=%f should be %f" % (press2, ref_press))
ref_temp = util.wait_field(conn.refmav, 'SCALED_PRESSURE', 'temperature')*0.01
temp1 = util.wait_field(conn.testmav, 'SCALED_PRESSURE', 'temperature')*0.01
temp2 = util.wait_field(conn.testmav, 'SCALED_PRESSURE2', 'temperature')*0.01
if abs(ref_temp - temp1) > TEMPERATURE_TOLERANCE:
util.failure("Baro1 error temperature=%f should be %f" % (temp1, ref_temp))
if abs(ref_temp - temp2) > TEMPERATURE_TOLERANCE:
util.failure("Baro2 error temperature=%f should be %f" % (temp2, ref_temp))
logger.info("Baros OK")