From b6fe039a9fe90fff03e781e826071e9ae3f78fa9 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 28 Sep 2020 20:45:12 +0900 Subject: [PATCH] Tools: autotest for beacon sets EK3_SRC params --- Tools/autotest/arducopter.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 580bae0884..3fce34c46d 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -4872,7 +4872,10 @@ class AutoTestCopter(AutoTest): self.set_parameter("AVOID_ENABLE", 4) self.set_parameter("GPS_TYPE", 0) self.set_parameter("EK3_ENABLE", 1) - self.set_parameter("EK3_GPS_TYPE", 3) # NOGPS + self.set_parameter("EK3_SRC1_POSXY", 4) # Beacon + self.set_parameter("EK3_SRC1_POSZ", 1) # Baro + self.set_parameter("EK3_SRC1_VELXY", 0) # None + self.set_parameter("EK3_SRC1_VELZ", 0) # None self.set_parameter("EK2_ENABLE", 0) self.reboot_sitl() self.set_parameter("AHRS_EKF_TYPE", 3)