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Tools: remove hard-coded FRAME global, specify same via parameter

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This commit is contained in:
Peter Barker 2016-10-10 11:09:47 +11:00
parent 2c0b687b9d
commit 068c310ed5
1 changed files with 6 additions and 5 deletions
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11
Tools/autotest/arducopter.py
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@ -21,7 +21,6 @@ from pysim import util
# get location of scripts # get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__)) testdir = os.path.dirname(os.path.realpath(__file__))
FRAME = '+'
HOME = mavutil.location(-35.362938, 149.165085, 584, 270) HOME = mavutil.location(-35.362938, 149.165085, 584, 270)
AVCHOME = mavutil.location(40.072842, -105.230575, 1586, 0) AVCHOME = mavutil.location(40.072842, -105.230575, 1586, 0)
@ -954,7 +953,7 @@ def setup_rc(mavproxy):
mavproxy.send('rc 3 1000\n') mavproxy.send('rc 3 1000\n')
def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=False): def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame='+', params_file=None):
"""Fly ArduCopter in SITL. """Fly ArduCopter in SITL.
you can pass viewerip as an IP address to optionally send fg and you can pass viewerip as an IP address to optionally send fg and
@ -963,12 +962,14 @@ def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fal
global homeloc global homeloc
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading) home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, wipe=True, model='+', home=home, speedup=speedup_default) sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup_default)
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter') mavproxy = util.start_MAVProxy_SITL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
mavproxy.expect('Received [0-9]+ parameters') mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters # setup test parameters
mavproxy.send("param load %s/default_params/copter.parm\n" % testdir) if params_file is None:
params_file = "{testdir}/default_params/copter.parm"
mavproxy.send("param load %s\n" % params_file.format(testdir=testdir))
mavproxy.expect('Loaded [0-9]+ parameters') mavproxy.expect('Loaded [0-9]+ parameters')
mavproxy.send("param set LOG_REPLAY 1\n") mavproxy.send("param set LOG_REPLAY 1\n")
mavproxy.send("param set LOG_DISARMED 1\n") mavproxy.send("param set LOG_DISARMED 1\n")
@ -978,7 +979,7 @@ def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fal
util.pexpect_close(mavproxy) util.pexpect_close(mavproxy)
util.pexpect_close(sitl) util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model='+', home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb) sitl = util.start_SITL(binary, model=frame, home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5' options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip: if viewerip:
options += ' --out=%s:14550' % viewerip options += ' --out=%s:14550' % viewerip