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autotest: adjust PAUSE_CONTINUE_GUIDED to use globalframe for navigation

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Co-author: Leonard Hall <leonardthall@gmail.com>

This test was failing when the yaw control on the simulated vehicle was cleaned up.  Navigating in body frame meant that the vehicle was told to go to a different position than we were actually expecting.
This commit is contained in:
Peter Barker 2022-07-12 13:33:35 +10:00 committed by Andrew Tridgell
parent f8e74d1da3
commit 0677965524
1 changed files with 5 additions and 5 deletions
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10
Tools/autotest/arducopter.py
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@ -8283,15 +8283,15 @@ class AutoTestCopter(AutoTest):
# move vehicle on x direction # move vehicle on x direction
location = self.offset_location_ne(location=self.mav.location(), metres_north=0, metres_east=-300) location = self.offset_location_ne(location=self.mav.location(), metres_north=0, metres_east=-300)
self.mav.mav.set_position_target_local_ned_send( self.mav.mav.set_position_target_global_int_send(
0, # system time in milliseconds 0, # system time in milliseconds
1, # target system 1, # target system
1, # target component 1, # target component
mavutil.mavlink.MAV_FRAME_BODY_NED, # coordinate frame MAV_FRAME_BODY_NED mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, # coordinate frame MAV_FRAME_BODY_NED
MAV_POS_TARGET_TYPE_MASK.POS_ONLY, # type mask (pos only) MAV_POS_TARGET_TYPE_MASK.POS_ONLY, # type mask (pos only)
300, # position x int(location.lat*1e7), # position x
0, # position y int(location.lng*1e7), # position y
0, # position z 30, # position z
0, # velocity x 0, # velocity x
0, # velocity y 0, # velocity y
0, # velocity z 0, # velocity z