From 864717310de95e11b2f8fe4fb29485bf1a86acfe Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 23 Apr 2020 16:37:23 +1000
Subject: [PATCH] autotest: allow specification of EKF type to use on
 commandline

---
 Tools/autotest/autotest.py |  5 +++++
 Tools/autotest/common.py   | 14 ++++++++++++--
 2 files changed, 17 insertions(+), 2 deletions(-)

diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py
index 800e171be0..c1ac408c72 100755
--- a/Tools/autotest/autotest.py
+++ b/Tools/autotest/autotest.py
@@ -379,6 +379,7 @@ def run_step(step):
         "disable_breakpoints": opts.disable_breakpoints,
         "frame": opts.frame,
         "_show_test_timings": opts.show_test_timings,
+        "force_ahrs_type": opts.force_ahrs_type,
     }
     if opts.speedup is not None:
         fly_opts["speedup"] = opts.speedup
@@ -757,6 +758,10 @@ if __name__ == "__main__":
                          default=False,
                          action='store_true',
                          help="disable all breakpoints before starting")
+    group_sim.add_option("", "--force-ahrs-type",
+                         dest="force_ahrs_type",
+                         default=None,
+                         help="force a specific AHRS type (e.g. 10 for SITL-ekf")
     parser.add_option_group(group_sim)
 
     opts, args = parser.parse_args()
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 4e5f731461..2b4d854cf9 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -706,7 +706,8 @@ class AutoTest(ABC):
                  disable_breakpoints=False,
                  viewerip=None,
                  use_map=False,
-                 _show_test_timings=False):
+                 _show_test_timings=False,
+                 force_ahrs_type=None):
 
         if binary is None:
             raise ValueError("Should always have a binary")
@@ -740,6 +741,9 @@ class AutoTest(ABC):
         self.test_timings = dict()
         self.total_waiting_to_arm_time = 0
         self.waiting_to_arm_count = 0
+        self.force_ahrs_type = force_ahrs_type
+        if self.force_ahrs_type is not None:
+            self.force_ahrs_type = int(self.force_ahrs_type)
 
     @staticmethod
     def progress(text):
@@ -848,6 +852,12 @@ class AutoTest(ABC):
             self.repeatedly_apply_parameter_file(os.path.join(testdir, x))
         self.set_parameter('LOG_REPLAY', 1)
         self.set_parameter('LOG_DISARMED', 1)
+        if self.force_ahrs_type is not None:
+            if self.force_ahrs_type == 2:
+                self.set_parameter("EK2_ENABLE", 1)
+            if self.force_ahrs_type == 3:
+                self.set_parameter("EK3_ENABLE", 1)
+            self.set_parameter("AHRS_EKF_TYPE", self.force_ahrs_type)
         self.reboot_sitl()
         self.fetch_parameters()
 
@@ -5572,4 +5582,4 @@ switch value'''
         defaults_list = []
         for d in defaults_filepath:
             defaults_list.append(os.path.join(testdir, d))
-        return ','.join(defaults_list)
\ No newline at end of file
+        return ','.join(defaults_list)