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autotest: remove rangefinder noise in Sub autotests to eliminate a source of flakiness
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This commit is contained in:
Clyde McQueen
2026-09-19 20:36:04 +10:00
committed by Peter Barker
parent 9165d22419
commit 368dc0c428
1 changed files with 5 additions and 5 deletions
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Tools/autotest/ardusub.py
+5 -5
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@@ -346,14 +346,14 @@ class AutoTestSub(vehicle_test_suite.TestSuite):
self.disarm_vehicle()
def prepare_synthetic_seafloor_test(self, sea_floor_depth, rf_target):
def prepare_synthetic_seafloor_test(self, sea_floor_depth, rf_target, config_bundle=1):
self.set_parameters({
"SCR_ENABLE": 1,
"RNGFND1_TYPE": 36,
"RNGFND1_ORIENT": 25,
"RNGFND1_MIN": 0.10,
"RNGFND1_MAX": 30.00,
"SCR_USER1": 2, # Configuration bundle
"SCR_USER1": config_bundle, # Configuration bundle, sets noise and terrain profile
"SCR_USER2": sea_floor_depth, # Depth in meters
"SCR_USER3": 101, # Output log records
"SCR_USER4": rf_target, # Rangefinder target in meters
@@ -413,7 +413,7 @@ class AutoTestSub(vehicle_test_suite.TestSuite):
sea_floor_depth = 50 # Depth of sea floor at location of test
match_distance = 15 # Desired sub distance from sea floor
start_altitude = -sea_floor_depth+match_distance
end_altitude = start_altitude - 10
end_altitude = start_altitude
validation_delta = 1.5 # Largest allowed distance between sub height and desired height
# Load the synthetic seafloor, this will push a context and reboot
@@ -437,7 +437,7 @@ class AutoTestSub(vehicle_test_suite.TestSuite):
self.watch_true_distance_maintained(match_distance, delta=validation_delta, timeout=5)
self.set_rc(Joystick.Forward, 1500)
# Go south over the plateau
# Go south past the ridge
self.reach_heading_manual(180)
self.set_rc(Joystick.Forward, 1650)
self.watch_true_distance_maintained(match_distance, delta=validation_delta, timeout=60)
@@ -457,7 +457,7 @@ class AutoTestSub(vehicle_test_suite.TestSuite):
sea_floor_depth = 50 # Depth of sea floor at location of test
match_distance = 15 # Desired sub distance from sea floor
start_altitude = -sea_floor_depth+match_distance
end_altitude = start_altitude - 10
end_altitude = start_altitude
validation_delta = 1.5 # Largest allowed distance between sub height and desired height
# Load the synthetic seafloor, this will push a context and reboot