mirror of https://github.com/ArduPilot/ardupilot
50 lines
932 B
Python
50 lines
932 B
Python
|
'''
|
||
|
|
Drive a Sailboat in SITL
|
||
|
|
|
||
|
|
AP_FLAKE8_CLEAN
|
||
|
|
|
||
|
|
'''
|
||
|
|
|
||
|
|
from __future__ import print_function
|
||
|
|
|
||
|
|
import os
|
||
|
|
|
||
|
|
from rover import AutoTestRover
|
||
|
|
|
||
|
|
# get location of scripts
|
||
|
|
testdir = os.path.dirname(os.path.realpath(__file__))
|
||
|
|
|
||
|
|
|
||
|
|
def log_name(self):
|
||
|
|
return "Sailboat"
|
||
|
|
|
||
|
|
|
||
|
|
class AutoTestSailboat(AutoTestRover):
|
||
|
|
|
||
|
|
def vehicleinfo_key(self):
|
||
|
|
return "Rover"
|
||
|
|
|
||
|
|
def init(self):
|
||
|
|
if self.frame is None:
|
||
|
|
self.frame = 'sailboat'
|
||
|
|
super(AutoTestSailboat, self).init()
|
||
|
|
|
||
|
|
def tests(self):
|
||
|
|
'''return list of all tests'''
|
||
|
|
ret = ([])
|
||
|
|
|
||
|
|
ret.extend([
|
||
|
|
("DriveRTL",
|
||
|
|
"Drive an RTL Mission",
|
||
|
|
self.drive_rtl_mission),
|
||
|
|
|
||
|
|
("DriveMission",
|
||
|
|
"Drive Mission %s" % "balancebot1.txt",
|
||
|
|
lambda: self.drive_mission("balancebot1.txt", strict=False)),
|
||
|
|
|
||
|
|
])
|
||
|
|
return ret
|
||
|
|
|
||
|
|
def default_mode(self):
|
||
|
|
return 'MANUAL'
|