ArduPilot / MethodicConfigurator / 29150700489

92%

push

github

fix(accel-cal): suppress stale position messages across poll calls

After the user confirms a calibration position, ArduPilot keeps sending
the same MAV_CMD_ACCELCAL_VEHICLE_POS every second.  The drain loop
introduced in the previous commit consumed queued duplicates within a
single call, but the first poll after confirmation still returned the
stale value, re-enabling the Continue button for the already-confirmed
orientation.

Fix by tracking the last returned position in
`_last_accel_cal_vehicle_pos` and returning None when the drained value
matches it.  Reset the tracker in `send_accel_calibration_full_start()`
so each calibration session starts clean.

Also fix two existing tests whose `recv_match.return_value = mock_msg`
pattern caused an infinite loop inside the drain loop; use
`side_effect = [mock_msg, None]` instead.

Add `test_poll_accel_cal_vehicle_pos_suppresses_stale_position_after_confirmation`
to cover the full three-step scenario: LEVEL returned once, stale LEVEL
suppressed, LEFT returned when the FC advances.

Closes #1801

2138 of 2212 branches covered (96.65%)

13605 of 14421 relevant lines covered (94.34%)

2.82 hits per line