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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
testdir = os.path.dirname(os.path.realpath(__file__))
FRAME = '+'
HOME = mavutil.location(-35.362938, 149.165085, 584, 270)
AVCHOME = mavutil.location(40.072842, -105.230575, 1586, 0)
@ -954,7 +953,7 @@ def setup_rc(mavproxy):
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.
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
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.expect('Received [0-9]+ 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.send("param set LOG_REPLAY 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(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'
if viewerip:
options += ' --out=%s:14550' % viewerip