autotest: added assert_reach_imu_temperature() abstraction

Tools/autotest/arduplane.py

@@ -1959,67 +1959,30 @@ class AutoTestPlane(AutoTest):
         self.run_cmd(mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
                      0,0,0,0,1,0,0,
                      timeout=5)
-        self.set_parameters({"SIM_IMUT_FIXED" : 0,
+        self.set_parameters({
+            "SIM_IMUT_FIXED" : 0,
             "INS_TCAL1_ENABLE" : 2,
             "INS_TCAL1_TMAX" : 42,
             "INS_TCAL2_ENABLE" : 2,
             "INS_TCAL2_TMAX" : 42,
-                             "SIM_SPEEDUP" : 200})
+            "SIM_SPEEDUP" : 200,
-        self.mavproxy.send("set streamrate 1\n")
+            })
+        self.set_streamrate(1)
         self.set_parameter("LOG_DISARMED", 1)
         self.reboot_sitl()
 
         self.progress("Waiting for IMU temperature")
-        tstart = self.get_sim_time()
+        self.assert_reach_imu_temperature(43, timeout=600)
-        timeout = 600
-        temp_ok = False
-        last_print_temp = -100
-        while self.get_sim_time_cached() - tstart < timeout:
-            m = self.mav.recv_match(type='RAW_IMU', blocking=True, timeout=2)
-            if m is None:
-                raise NotAchievedException("RAW_IMU")
-            temperature = m.temperature*0.01
-            if temperature >= 43:
-                self.progress("Reached temperature %.1f" % temperature)
-                temp_ok = True
-                break
-            if temperature - last_print_temp > 1:
-                self.progress("temperature %.1f" % temperature)
-                last_print_temp = temperature
 
-        if not temp_ok:
-            raise NotAchievedException("target temperature")
         if self.get_parameter("INS_TCAL1_ENABLE") != 1.0:
             raise NotAchievedException("TCAL1 did not complete")
         if self.get_parameter("INS_TCAL2_ENABLE") != 1.0:
             raise NotAchievedException("TCAL2 did not complete")
 
-        self.progress("Testing with calibration enabled")
+        self.progress("Logging with calibration enabled")
         self.reboot_sitl()
 
-        tstart = self.get_sim_time()
+        self.assert_reach_imu_temperature(43, timeout=600)
-        timeout = 600
-        temp_ok = False
-        last_print_temp = -100
-        while self.get_sim_time_cached() - tstart < timeout:
-            m = self.mav.recv_match(type='RAW_IMU', blocking=True, timeout=2)
-            if m is None:
-                raise NotAchievedException("RAW_IMU")
-            temperature = m.temperature*0.01
-            if temperature >= 43:
-                self.progress("Reached temperature %.1f" % temperature)
-                temp_ok = True
-                break
-            if temperature - last_print_temp > 1:
-                self.progress("temperature %.1f" % temperature)
-                last_print_temp = temperature
-
-        if not temp_ok:
-            raise NotAchievedException("target temperature")
-        if self.get_parameter("INS_TCAL1_ENABLE") != 1.0:
-            raise NotAchievedException("TCAL1 did not complete")
-        if self.get_parameter("INS_TCAL2_ENABLE") != 1.0:
-            raise NotAchievedException("TCAL2 did not complete")
 
         self.progress("Testing with compensation enabled")
         gyro_threshold = 0.2

Tools/autotest/common.py

@@ -2510,6 +2510,27 @@ class AutoTest(ABC):
                                        (parameter, required, got))
         self.progress("%s has value %f" % (parameter, required))
 
+    def assert_reach_imu_temperature(self, target, timeout):
+        '''wait to reach a target temperature'''
+        tstart = self.get_sim_time()
+        temp_ok = False
+        last_print_temp = -100
+        while self.get_sim_time_cached() - tstart < timeout:
+            m = self.mav.recv_match(type='RAW_IMU', blocking=True, timeout=2)
+            if m is None:
+                raise NotAchievedException("RAW_IMU")
+            temperature = m.temperature*0.01
+            if temperature >= target:
+                self.progress("Reached temperature %.1f" % temperature)
+                temp_ok = True
+                break
+            if temperature - last_print_temp > 1:
+                self.progress("temperature %.1f" % temperature)
+                last_print_temp = temperature
+
+        if not temp_ok:
+            raise NotAchievedException("target temperature")
+        
     def onboard_logging_not_log_disarmed(self):
         self.set_parameter("LOG_DISARMED", 0)
         self.set_parameter("LOG_FILE_DSRMROT", 0)