Tools: added test for MSP GPS

tridge · Jul 31, 2023 · d11f6ed · d11f6ed
1 parent 7254e04
commit d11f6ed
Showing 1 changed file with 9 additions and 7 deletions.
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
@@ -12996,23 +12996,25 @@ def GPSTypes(self):
         # if gps_type is None we auto-detect
         sim_gps = [
             # (0, "NONE"),
-            (1, "UBLOX", None, "u-blox"),
-            (5, "NMEA", 5, "NMEA"),
-            (6, "SBP", None, "SBP"),
-            # (7, "SBP2", 9, "SBP2"),  # broken, "waiting for config data"
-            (8, "NOVA", 15, "NOVA"),  # no attempt to auto-detect this in AP_GPS
+            (1, "UBLOX", None, "u-blox", 5, 'detected'),
+            (5, "NMEA", 5, "NMEA", 5, 'detected'),
+            (6, "SBP", None, "SBP", 5, 'detected'),
+            # (7, "SBP2", 9, "SBP2", 5),  # broken, "waiting for config data"
+            (8, "NOVA", 15, "NOVA", 5, 'detected'),  # no attempt to auto-detect this in AP_GPS
+            (19, "MSP", 19, "MSP", 32, 'specified'),  # no attempt to auto-detect this in AP_GPS
             # (9, "FILE"),
         ]
         self.context_collect("STATUSTEXT")
-        for (sim_gps_type, name, gps_type, detect_name) in sim_gps:
+        for (sim_gps_type, name, gps_type, detect_name, serial_protocol, detect_prefix) in sim_gps:
             self.start_subtest("Checking GPS type %s" % name)
             self.set_parameter("SIM_GPS_TYPE", sim_gps_type)
+            self.set_parameter("SERIAL3_PROTOCOL", serial_protocol)
             if gps_type is None:
                 gps_type = 1  # auto-detect
             self.set_parameter("GPS_TYPE", gps_type)
             self.context_clear_collection('STATUSTEXT')
             self.reboot_sitl()
-            self.wait_statustext("detected as %s" % detect_name, check_context=True)
+            self.wait_statustext("%s as %s" % (detect_prefix, detect_name), check_context=True)
             n = self.poll_home_position(timeout=120)
             distance = self.get_distance_int(orig, n)
             if distance > 1: