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AP_HAL_SITL: initialize rcout safety state #27611

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merged 2 commits into from
Jul 29, 2024
Merged

AP_HAL_SITL: initialize rcout safety state #27611

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c8e9b4f
autotest: correct Rover RangeFinder test
peterbarker Jul 29, 2024
c206e12
AP_HAL_SITL: initialize rcout safety state
robertlong13 Jul 22, 2024
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6 changes: 3 additions & 3 deletions Tools/autotest/rover.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6042,10 +6042,10 @@ def FRAMStorage(self):
def RangeFinder(self):
'''Test RangeFinder'''
# the following magic numbers correspond to the post locations in SITL
home_string = "%s,%s,%s,%s" % (51.8752066, 14.6487840, 54.15, 315)
home_string = "%s,%s,%s,%s" % (51.8752066, 14.6487840, 54.15, 231)

rangefinder_params = {
"SIM_SONAR_ROT": 6,
"SIM_SONAR_ROT": 0,
}
rangefinder_params.update(self.analog_rangefinder_parameters())

Expand All @@ -6060,7 +6060,7 @@ def RangeFinder(self):
if m.voltage == 0:
raise NotAchievedException("Did not get non-zero voltage")
want_range = 10
if abs(m.distance - want_range) > 0.1:
if abs(m.distance - want_range) > 0.5:
raise NotAchievedException("Expected %fm got %fm" % (want_range, m.distance))

def DepthFinder(self):
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2 changes: 1 addition & 1 deletion libraries/AP_HAL_SITL/RCOutput.h
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,7 @@ class HALSITL::RCOutput : public AP_HAL::RCOutput {
bool _corked;
uint16_t _pending[SITL_NUM_CHANNELS];

AP_HAL::Util::safety_state safety_state;
AP_HAL::Util::safety_state safety_state = AP_HAL::Util::safety_state::SAFETY_DISARMED;
};

#endif
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