Tools: added test for InertialLabs EAHRS

ArduPilot · Dec 5, 2023 · 61e8d3a · 61e8d3a
1 parent 5705a7c
commit 61e8d3a
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diff --git a/Tools/autotest/ArduPlane_Tests/InertialLabsEAHRS/ap1.txt b/Tools/autotest/ArduPlane_Tests/InertialLabsEAHRS/ap1.txt
@@ -0,0 +1,7 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	584.090027	1
+1	0	3	22	0.000000	0.000000	0.000000	0.000000	-35.361553	149.163956	20.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364540	149.162857	50.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.367333	149.163164	28.000000	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.366814	149.165878	28.000000	1
+5	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.362947	149.165179	0.000000	1
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
@@ -3279,6 +3279,10 @@ def MicroStrainEAHRS7(self):
         '''Test MicroStrain EAHRS series 7 support'''
         self.fly_external_AHRS("MicroStrain7", 7, "ap1.txt")
 
+    def InertialLabsEAHRS(self):
+        '''Test InertialLabs EAHRS support'''
+        self.fly_external_AHRS("ILabs", 5, "ap1.txt")
+
     def get_accelvec(self, m):
         return Vector3(m.xacc, m.yacc, m.zacc) * 0.001 * 9.81
 
@@ -5358,6 +5362,7 @@ def tests(self):
             self.VectorNavEAHRS,
             self.MicroStrainEAHRS5,
             self.MicroStrainEAHRS7,
+            self.InertialLabsEAHRS,
             self.Deadreckoning,
             self.DeadreckoningNoAirSpeed,
             self.EKFlaneswitch,