Tools: added external AHRS scripting test

Tools/autotest/ArduPlane_Tests/InertialLabsEAHRSScripting/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

Tools/autotest/arduplane.py

@@ -3158,10 +3158,11 @@ def TerrainLoiter(self):
         self.progress("Returning home")
         self.fly_home_land_and_disarm(240)
 
-    def fly_external_AHRS(self, sim, eahrs_type, mission):
+    def fly_external_AHRS(self, sim, eahrs_type, mission, extra_params=None, script=None):
         """Fly with external AHRS (VectorNav)"""
         self.customise_SITL_commandline(["--uartE=sim:%s" % sim])
 
+        self.context_push()
         self.set_parameters({
             "EAHRS_TYPE": eahrs_type,
             "SERIAL4_PROTOCOL": 36,
@@ -3170,7 +3171,20 @@ def fly_external_AHRS(self, sim, eahrs_type, mission):
             "AHRS_EKF_TYPE": 11,
             "INS_GYR_CAL": 1,
         })
+        if script is not None:
+            # optionally install a driver script
+            self.install_driver_script_context(script)
+            self.set_parameters({
+                "SCR_ENABLE" : 1,
+                "SCR_VM_I_COUNT" : 1000000,
+            })
         self.reboot_sitl()
+        if extra_params is not None:
+            # optional extra parameters
+            self.set_parameters(extra_params)
+            self.reboot_sitl()
+            # set again for ones that need to be after reboot
+            self.set_parameters(extra_params)
         self.delay_sim_time(5)
         self.progress("Running accelcal")
         self.run_cmd(
@@ -3182,6 +3196,7 @@ def fly_external_AHRS(self, sim, eahrs_type, mission):
         self.wait_ready_to_arm()
         self.arm_vehicle()
         self.fly_mission(mission)
+        self.context_pop()
 
     def wait_and_maintain_wind_estimate(
             self,
@@ -3281,7 +3296,18 @@ def MicroStrainEAHRS7(self):
 
     def InertialLabsEAHRS(self):
         '''Test InertialLabs EAHRS support'''
-        self.fly_external_AHRS("ILabs", 5, "ap1.txt")
+        self.fly_external_AHRS("ILabs", 5, "ap1.txt",
+                               extra_params={'SIM_SPEEDUP': 10})
+
+    def InertialLabsEAHRSScripting(self):
+        '''Test InertialLabs EAHRS support with scripting'''
+        self.fly_external_AHRS("ILabs", 10, "ap1.txt",
+                               extra_params={"ILABS_ENABLE": 1,
+                                             'SERIAL4_PROTOCOL': 28,
+                                             'SIM_SPEEDUP': 1,
+                                             'EAHRS_SENSORS': 13,
+                                             'ARSPD_TYPE': 16},
+                               script="EAHRS_InertialLabs.lua")
 
     def get_accelvec(self, m):
         return Vector3(m.xacc, m.yacc, m.zacc) * 0.001 * 9.81
@@ -5363,6 +5389,7 @@ def tests(self):
             self.MicroStrainEAHRS5,
             self.MicroStrainEAHRS7,
             self.InertialLabsEAHRS,
+            self.InertialLabsEAHRSScripting,
             self.Deadreckoning,
             self.DeadreckoningNoAirSpeed,
             self.EKFlaneswitch,

Tools/autotest/vehicle_test_suite.py

@@ -4455,6 +4455,12 @@ def install_applet_script_context(self, scriptname):
         self.install_applet_script(scriptname)
         self.context_get().installed_scripts.append(scriptname)
 
+    def install_driver_script_context(self, scriptname):
+        '''installs a driver script which will be removed when the context goes
+        away'''
+        self.install_driver_script(scriptname)
+        self.context_get().installed_scripts.append(scriptname)
+
     def rootdir(self):
         this_dir = os.path.dirname(__file__)
         return os.path.realpath(os.path.join(this_dir, "../.."))
@@ -8024,6 +8030,9 @@ def script_test_source_path(self, scriptname):
     def script_applet_source_path(self, scriptname):
         return os.path.join(self.rootdir(), "libraries", "AP_Scripting", "applets", scriptname)
 
+    def script_drivers_source_path(self, scriptname):
+        return os.path.join(self.rootdir(), "libraries", "AP_Scripting", "drivers", scriptname)
+
     def installed_script_path(self, scriptname):
         return os.path.join("scripts", os.path.basename(scriptname))
 
@@ -8064,6 +8073,10 @@ def install_applet_script(self, scriptname, install_name=None):
         source = self.script_applet_source_path(scriptname)
         self.install_script(source, scriptname, install_name=install_name)
 
+    def install_driver_script(self, scriptname, install_name=None):
+        source = self.script_drivers_source_path(scriptname)
+        self.install_script(source, scriptname, install_name=install_name)
+
     def remove_installed_script(self, scriptname):
         dest = self.installed_script_path(os.path.basename(scriptname))
         try: