From 9fb7ef915e0af20317d4a945a28a9da653ca1f21 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 12 Jul 2021 11:55:36 +1000
Subject: [PATCH] Tools: add support for ms5525 i2c sensor

---
 Tools/autotest/arduplane.py | 42 ++++++++++++++++++++++++++++++++-----
 1 file changed, 37 insertions(+), 5 deletions(-)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 2ec182e599..37845c7858 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -2193,12 +2193,44 @@ class AutoTestPlane(AutoTest):
         self.progress("Mission OK")
 
     def test_airspeed_drivers(self):
-        self.set_parameter("ARSPD_BUS", 2)
-        self.set_parameter("ARSPD_TYPE", 7)  # DLVR
+        airspeed_sensors = [
+            ("MS5525", 3, 1),
+            ("DLVR", 7, 2),
+        ]
+        for (name, t, bus) in airspeed_sensors:
+            self.context_push()
+            if bus is not None:
+                self.set_parameter("ARSPD2_BUS", bus)
+            self.set_parameter("ARSPD2_TYPE", t)
+            self.reboot_sitl()
+            self.wait_ready_to_arm()
+            self.arm_vehicle()
+
+            # insert listener to compare airspeeds:
+            airspeed = [None, None]
+
+            def check_airspeeds(mav, m):
+                m_type = m.get_type()
+                if (m_type == 'NAMED_VALUE_FLOAT' and
+                        m.name == 'AS2'):
+                    airspeed[1] = m.value
+                elif m_type == 'VFR_HUD':
+                    airspeed[0] = m.airspeed
+                else:
+                    return
+                if airspeed[0] is None or airspeed[1] is None:
+                    return
+                delta = abs(airspeed[0] - airspeed[1])
+                if delta > 2:
+                    raise NotAchievedException("Airspeed mismatch (as1=%f as2=%f)" % (airspeed[0], airspeed[1]))
+            self.install_message_hook_context(check_airspeeds)
+            self.fly_mission("ap1.txt", strict=False)
+            if airspeed[0] is None:
+                raise NotAchievedException("Never saw an airspeed1")
+            if airspeed[1] is None:
+                raise NotAchievedException("Never saw an airspeed2")
+            self.context_pop()
         self.reboot_sitl()
-        self.wait_ready_to_arm()
-        self.arm_vehicle()
-        self.fly_mission("ap1.txt", strict=False)
 
     def fly_terrain_mission(self):