mirror of https://github.com/ArduPilot/ardupilot
Tools: autotest: tests for new fence code
Tools: autotest: move clear_mission up, use it before running each test Also have it understand MAV_MISSION_TYPE_ALL Tools: autotest: add tests for polyfence Tools: autotest: add tests for multiple inclusion polyfences Tools: autotest: ensure we can't arm inside a circle exclusion zone Tools: autotest: add test for arming outside an inclusion zone Tools: autotest: add tests for upload timeout Tools: autotest: add tests for not arming due to polygon zones Tools: autotest: add test for fence point reboot survivability Tools: autotest: add test for moving fence point Tools: autotest: add some tests via MAVProxy Tools: autotest: add test for avoiding polygonal exclusion zones Tools: autotest: add test for object avoidance Currently disabled as it doesn't pass where it seemingly should. Tools: autotest: skip MAVProxy tests on older MAVProxy versions Tools: autotest: adjust fence loading for lack of string back from MAVProxy Tools: autotest: create a do_RTL function Tools: autotest: cope with loading QGC-style fence files Tools: autotest: add test for object-avoidance in guided mode Tools: autotest: add OA test for auto mode Tools: autotest: add test for bendy ruler in guided mode Tools: autotest: adjust for new MAVProxy fence module not emitting old strings Tools: autotest: add tests for prearming due to bad parameter values
This commit is contained in:
Peter Barker
Andrew Tridgell
parent
179db476bf
commit
0a23de087c
File diff suppressed because it is too large
Load Diff
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@ -644,6 +644,43 @@ class AutoTestCopter(AutoTest):
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self.fly_fence_avoid_test_radius_check(avoid_behave=1, timeout=timeout)
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self.fly_fence_avoid_test_radius_check(avoid_behave=0, timeout=timeout)
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def assert_prearm_failure(self, expected_statustext, timeout=5, ignore_prearm_failures=[]):
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seen_statustext = False
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seen_command_ack = False
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self.drain_mav()
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tstart = self.get_sim_time_cached()
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arm_last_send = 0
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while True:
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if seen_command_ack and seen_statustext:
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break
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now = self.get_sim_time_cached()
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if now - tstart > timeout:
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raise NotAchievedException("Did not see failure-to-arm messages (statustext=%s command_ack=%s" % (seen_statustext, seen_command_ack))
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if now - arm_last_send > 1:
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arm_last_send = now
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self.send_mavlink_arm_command()
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m = self.mav.recv_match(blocking=True, timeout=1)
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if m is None:
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continue
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if m.get_type() == "STATUSTEXT":
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if expected_statustext in m.text:
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self.progress("Got: %s" % str(m))
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seen_statustext = True
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elif "PreArm" in m.text and m.text[8:] not in ignore_prearm_failures:
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self.progress("Got: %s" % str(m))
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raise NotAchievedException("Unexpected prearm failure (%s)" % m.text)
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if m.get_type() == "COMMAND_ACK":
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print("Got: %s" % str(m))
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if m.command == mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM:
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if m.result != 4:
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raise NotAchievedException("command-ack says we didn't fail to arm")
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self.progress("Got: %s" % str(m))
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seen_command_ack = True
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if self.mav.motors_armed():
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raise NotAchievedException("Armed when we shouldn't have")
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# fly_fence_test - fly east until you hit the horizontal circular fence
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def fly_fence_test(self, timeout=180):
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# enable fence, disable avoidance
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@ -662,43 +699,29 @@ class AutoTestCopter(AutoTest):
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self.start_subtest("ensure we can't arm if ouside fence")
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self.load_fence_using_mavproxy("fence-in-middle-of-nowhere.txt")
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self.delay_sim_time(5) # let fence check run so it loads-from-eeprom
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seen_statustext = False
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seen_command_ack = False
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tstart = self.get_sim_time_cached()
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while True:
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self.send_mavlink_arm_command()
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if seen_command_ack and seen_statustext:
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break
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if self.get_sim_time_cached() - tstart > 5:
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raise NotAchievedException("Did not see failure-to-arm messages (statustext=%s command_ack=%s" % (seen_statustext, seen_command_ack))
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m = self.mav.recv_match(blocking=True, timeout=1)
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if m is None:
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continue
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if m.get_type() == "STATUSTEXT":
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if "vehicle outside fence" in m.text:
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self.progress("Got: %s" % str(m))
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seen_statustext = True
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elif "PreArm" in m.text:
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self.progress("Got: %s" % str(m))
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raise NotAchievedException("Unexpected prearm failure (%s)" % m.text)
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if m.get_type() == "COMMAND_ACK":
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print("Got: %s" % str(m))
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if m.command == mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM:
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if m.result != 4:
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raise NotAchievedException("command-ack says we didn't fail to arm")
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self.progress("Got: %s" % str(m))
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seen_command_ack = True
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if self.mav.motors_armed():
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raise NotAchievedException("Armed when we shouldn't have")
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self.assert_prearm_failure("vehicle outside fence")
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self.progress("Failed to arm outside fence (good!)")
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self.clear_fence()
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self.delay_sim_time(5) # let fence breach clear
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self.drain_mav()
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self.mavproxy.send('fence clear\n')
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self.delay_sim_time(2)
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self.mavproxy.send('fence list\n')
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self.mavproxy.expect("No geo-fence points")
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self.end_subtest("ensure we can't arm if ouside fence")
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self.start_subtest("ensure we can't arm with bad radius")
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self.context_push()
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self.set_parameter("FENCE_RADIUS", -1)
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self.assert_prearm_failure("Invalid FENCE_RADIUS value")
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self.context_pop()
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self.progress("Failed to arm with bad radius")
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self.drain_mav()
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self.end_subtest("ensure we can't arm with bad radius")
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self.start_subtest("ensure we can't arm with bad alt")
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self.context_push()
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self.set_parameter("FENCE_ALT_MAX", -1)
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self.assert_prearm_failure("Invalid FENCE_ALT_MAX value")
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self.context_pop()
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self.progress("Failed to arm with bad altitude")
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self.end_subtest("ensure we can't arm with bad radius")
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self.start_subtest("Check breach-fence behaviour")
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self.set_parameter("FENCE_TYPE", 2)
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@ -15,6 +15,8 @@ import operator
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from MAVProxy.modules.lib import mp_util
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from pymavlink import mavwp, mavutil, DFReader
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from pymavlink import mavextra
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from pysim import util, vehicleinfo
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# a list of pexpect objects to read while waiting for
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@ -222,6 +224,25 @@ class AutoTest(ABC):
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HOME.alt,
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HOME.heading)
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def mavproxy_version(self):
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'''return the current version of mavproxy as a tuple e.g. (1,8,8)'''
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return util.MAVProxy_version()
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def mavproxy_version_gt(self, major, minor, point):
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if os.getenv("AUTOTEST_FORCE_MAVPROXY_VERSION", None) is not None:
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return True
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(got_major, got_minor, got_point) = self.mavproxy_version()
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print("Got: %s.%s.%s" % (got_major, got_minor, got_point))
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if got_major > major:
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return True
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elif got_major < major:
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return False
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if got_minor > minor:
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return True
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elif got_minor < minor:
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return False
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return got_point > point
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def open_mavproxy_logfile(self):
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return MAVProxyLogFile()
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@ -299,12 +320,29 @@ class AutoTest(ABC):
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def count_lines_in_filepath(self, filepath):
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return len([i for i in open(filepath)])
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def count_expected_fence_lines_in_filepath(self, filepath):
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count = 0
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is_qgc = False
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for i in open(filepath):
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i = re.sub("#.*", "", i) # trim comments
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if i.isspace():
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# skip empty lines
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continue
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if re.match("QGC", i):
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# skip QGC header line
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is_qgc = True
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continue
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count += 1
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if is_qgc:
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count += 2 # file doesn't include return point + closing point
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return count
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def load_fence_using_mavproxy(self, filename):
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self.set_parameter("FENCE_TOTAL", 0)
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filepath = os.path.join(self.mission_directory(), filename)
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count = self.count_lines_in_filepath(filepath)
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count = self.count_expected_fence_lines_in_filepath(filepath)
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self.mavproxy.send('fence load %s\n' % filepath)
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self.mavproxy.expect("Loaded %u geo-fence" % count)
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# self.mavproxy.expect("Loaded %u (geo-)?fence" % count)
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tstart = self.get_sim_time_cached()
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while True:
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t2 = self.get_sim_time_cached()
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@ -686,6 +724,97 @@ class AutoTest(ABC):
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raise ValueError("count %u not handled" % count)
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self.progress("Files same")
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def assert_rally_files_same(self, file1, file2):
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self.progress("Comparing (%s) and (%s)" % (file1, file2, ))
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f1 = open(file1)
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f2 = open(file2)
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lines_f1 = f1.readlines()
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lines_f2 = f2.readlines()
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self.assert_rally_content_same(lines_f1, lines_f2)
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def assert_rally_filepath_content(self, file1, content):
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f1 = open(file1)
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lines_f1 = f1.readlines()
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lines_content = content.split("\n")
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print("lines content: %s" % str(lines_content))
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self.assert_rally_content_same(lines_f1, lines_content)
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def assert_rally_content_same(self, f1, f2):
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'''check each line in f1 matches one-to-one with f2'''
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for l1, l2 in zip(f1, f2):
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print("l1: %s" % l1)
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print("l2: %s" % l2)
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l1 = l1.rstrip("\n")
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l2 = l2.rstrip("\n")
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l1 = l1.rstrip("\r")
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l2 = l2.rstrip("\r")
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if l1 == l2:
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# e.g. the first "QGC WPL 110" line
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continue
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if re.match(r"0\s", l1):
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# home changes...
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continue
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l1 = l1.rstrip()
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l2 = l2.rstrip()
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print("al1: %s" % str(l1))
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print("al2: %s" % str(l2))
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fields1 = re.split(r"\s+", l1)
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fields2 = re.split(r"\s+", l2)
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# line = int(fields1[0])
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t = int(fields1[3]) # mission item type
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for (count, (i1, i2)) in enumerate(zip(fields1, fields2)):
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# if count == 2: # frame
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# if t in [mavutil.mavlink.MAV_CMD_DO_CHANGE_SPEED,
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# mavutil.mavlink.MAV_CMD_CONDITION_YAW,
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# mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH,
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# mavutil.mavlink.MAV_CMD_NAV_LOITER_TIME,
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# mavutil.mavlink.MAV_CMD_DO_JUMP,
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# mavutil.mavlink.MAV_CMD_DO_DIGICAM_CONTROL,
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# ]:
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# # ardupilot doesn't remember frame on these commands
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# if int(i1) == 3:
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# i1 = 0
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# if int(i2) == 3:
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# i2 = 0
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# if count == 6: # param 3
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# if t in [mavutil.mavlink.MAV_CMD_NAV_LOITER_TIME]:
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# # ardupilot canonicalises this to -1 for ccw or 1 for cw.
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# if float(i1) == 0:
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# i1 = 1.0
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# if float(i2) == 0:
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# i2 = 1.0
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# if count == 7: # param 4
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# if t == mavutil.mavlink.MAV_CMD_NAV_LAND:
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# # ardupilot canonicalises "0" to "1" param 4 (yaw)
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# if int(float(i1)) == 0:
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# i1 = 1
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# if int(float(i2)) == 0:
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# i2 = 1
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if 0 <= count <= 3 or 11 <= count <= 11:
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if int(i1) != int(i2):
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raise ValueError("Rally points different: (%s vs %s) (%d vs %d) (count=%u)" %
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(l1, l2, int(i1), int(i2), count)) # NOCI
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continue
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if 4 <= count <= 10:
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f_i1 = float(i1)
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f_i2 = float(i2)
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delta = abs(f_i1 - f_i2)
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max_allowed_delta = 0.000009
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if delta > max_allowed_delta:
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raise ValueError(
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("Rally has different (float) content: " +
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"(%s vs %s) " +
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"(%f vs %f) " +
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"(%.10f) " +
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"(count=%u)") %
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(l1, l2,
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f_i1, f_i2,
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delta,
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count)) # NOCI
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continue
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raise ValueError("count %u not handled" % count)
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self.progress("Rally content same")
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def load_rally(self, filename):
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"""Load rally points from a file to flight controller."""
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self.progress("Loading rally points (%s)" % filename)
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@ -938,6 +1067,7 @@ class AutoTest(ABC):
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def arm_vehicle(self, timeout=20):
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"""Arm vehicle with mavlink arm message."""
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self.progress("Arm motors with MAVLink cmd")
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self.drain_mav()
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tstart = self.get_sim_time()
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self.run_cmd(mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
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1, # ARM
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@ -2192,11 +2322,20 @@ class AutoTest(ABC):
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continue
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if m.get_type() == 'MISSION_ACK':
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raise NotAchievedException("Received unexpected mission ack %s" % str(m))
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if (m.target_system == 255 and
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m.target_component == 0 and
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m.type == 1 and
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m.mission_type == 0):
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# this is just MAVProxy trying to screw us up
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continue
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else:
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raise NotAchievedException("Received unexpected mission ack %s" % str(m))
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self.progress("Handling request for item %u" % m.seq)
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self.progress("Handling request for item %u/%u" % (m.seq, len(items)-1))
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self.progress("Item (%s)" % str(items[m.seq]))
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if m.seq in sent:
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raise NotAchievedException("received duplicate request for item %u" % m.seq)
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self.progress("received duplicate request for item %u" % m.seq)
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continue
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if m.seq not in remaining_to_send:
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raise NotAchievedException("received request for unknown item %u" % m.seq)
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@ -2211,10 +2350,9 @@ class AutoTest(ABC):
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if items[m.seq].target_component != target_component:
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raise NotAchievedException("supplied item not of correct target component")
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if items[m.seq].seq != m.seq:
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raise NotAchievedException("requested item has incorrect sequence number")
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raise NotAchievedException("supplied item has incorrect sequence number (%u vs %u)" % (items[m.seq].seq, m.seq))
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items[m.seq].pack(self.mav.mav)
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self.progress("Sending (%s)" % str(items[m.seq]))
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self.mav.mav.send(items[m.seq])
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remaining_to_send.discard(m.seq)
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sent.add(m.seq)
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@ -2230,22 +2368,34 @@ class AutoTest(ABC):
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(mavutil.mavlink.enums["MAV_MISSION_RESULT"][m.type].name),)
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self.progress("Upload of all %u items succeeded" % len(items))
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def download_using_mission_protocol(self, mission_type):
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def download_using_mission_protocol(self, mission_type, verbose=False, timeout=10):
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'''mavlink2 required'''
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target_system = 1
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target_component = 1
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self.drain_mav_unparsed()
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self.progress("Sending mission_request_list")
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self.mav.mav.mission_request_list_send(target_system,
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target_component,
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mission_type)
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tstart = self.get_sim_time_cached()
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while True:
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m = self.mav.recv_match(type='MISSION_COUNT',
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blocking=True,
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timeout=5)
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self.progress(str(m))
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if self.get_sim_time_cached() - tstart > timeout:
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raise NotAchievedException("Did not get MISSION_COUNT packet")
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m = self.mav.recv_match(blocking=True, timeout=0.1)
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if verbose:
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self.progress(str(m))
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if m.get_type() == 'MISSION_ACK':
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if m.target_system == 255 and m.target_component == 0:
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# this was for MAVProxy
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continue
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self.progress("Mission ACK: %s" % str(m))
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raise NotAchievedException("Received MISSION_ACK while waiting for MISSION_COUNT")
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if m.get_type() != 'MISSION_COUNT':
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continue
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if m is None:
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raise NotAchievedException("Did not get MISSION_COUNT response")
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if m.target_component != 250:
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if m.target_component != 250: # FIXME: constant?!
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continue
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if m.mission_type != mission_type:
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raise NotAchievedException("Mission count response of incorrect type")
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@ -2324,6 +2474,17 @@ class AutoTest(ABC):
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m = self.poll_home_position()
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return mavutil.location(m.latitude*1.0e-7, m.longitude*1.0e-7, m.altitude*1.0e-3, 0)
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def offset_location_ne(self, location, metres_north, metres_east):
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'''return a new location offset from passed-in location'''
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(target_lat, target_lng) = mavextra.gps_offset(location.lat,
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location.lng,
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metres_east,
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metres_north)
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return mavutil.location(target_lat,
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target_lng,
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location.alt,
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location.heading)
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def monitor_groundspeed(self, want, tolerance=0.5, timeout=5):
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tstart = self.get_sim_time()
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while True:
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@ -2897,8 +3058,47 @@ class AutoTest(ABC):
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if m is None:
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raise NotAchievedException("Requested CAMERA_FEEDBACK did not arrive")
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|
||||
def clear_fence_using_mavproxy(self):
|
||||
def clear_mission(self, mission_type, target_system=1, target_component=1):
|
||||
'''clear mision_type from autopilot. Note that this does NOT actually
|
||||
send a MISSION_CLEAR_ALL message
|
||||
'''
|
||||
if mission_type == mavutil.mavlink.MAV_MISSION_TYPE_ALL:
|
||||
# recurse
|
||||
if not self.is_tracker() and not self.is_plane():
|
||||
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
|
||||
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
|
||||
if not self.is_sub() and not self.is_tracker():
|
||||
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
|
||||
return
|
||||
|
||||
self.mav.mav.mission_count_send(target_system,
|
||||
target_component,
|
||||
0,
|
||||
mission_type)
|
||||
m = self.mav.recv_match(type='MISSION_ACK',
|
||||
blocking=True,
|
||||
timeout=5)
|
||||
if m is None:
|
||||
raise NotAchievedException("Expected ACK for clearing mission")
|
||||
if m.target_system != self.mav.mav.srcSystem:
|
||||
raise NotAchievedException("ACK not targetted at correct system want=%u got=%u" %
|
||||
(self.mav.mav.srcSystem, m.target_system))
|
||||
if m.target_component != self.mav.mav.srcComponent:
|
||||
raise NotAchievedException("ACK not targetted at correct component want=%u got=%u" %
|
||||
(self.mav.mav.srcComponent, m.target_component))
|
||||
if m.type != mavutil.mavlink.MAV_MISSION_ACCEPTED:
|
||||
raise NotAchievedException("Expected MAV_MISSION_ACCEPTED got %s" %
|
||||
(mavutil.mavlink.enums["MAV_MISSION_RESULT"][m.type].name,))
|
||||
|
||||
def clear_fence_using_mavproxy(self, timeout=10):
|
||||
self.mavproxy.send("fence clear\n")
|
||||
tstart = self.get_sim_time_cached()
|
||||
while True:
|
||||
now = self.get_sim_time_cached()
|
||||
if now - tstart > timeout:
|
||||
raise AutoTestTimeoutException("FENCE_TOTAL did not go to zero")
|
||||
if self.get_parameter("FENCE_TOTAL") == 0:
|
||||
break
|
||||
|
||||
def clear_fence(self):
|
||||
self.clear_fence_using_mavproxy()
|
||||
|
|
@ -3070,6 +3270,63 @@ class AutoTest(ABC):
|
|||
'''return mode vehicle should start in with default RC inputs set'''
|
||||
return None
|
||||
|
||||
def upload_fences_from_locations(self,
|
||||
vertex_type,
|
||||
list_of_list_of_locs,
|
||||
target_system=1,
|
||||
target_component=1):
|
||||
seq = 0
|
||||
items = []
|
||||
for locs in list_of_list_of_locs:
|
||||
if type(locs) == dict:
|
||||
# circular fence
|
||||
if vertex_type == mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION:
|
||||
v = mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION
|
||||
else:
|
||||
v = mavutil.mavlink.MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION
|
||||
item = self.mav.mav.mission_item_int_encode(
|
||||
target_system,
|
||||
target_component,
|
||||
seq, # seq
|
||||
mavutil.mavlink.MAV_FRAME_GLOBAL,
|
||||
v,
|
||||
0, # current
|
||||
0, # autocontinue
|
||||
locs["radius"], # p1
|
||||
0, # p2
|
||||
0, # p3
|
||||
0, # p4
|
||||
int(locs["loc"].lat *1e7), # latitude
|
||||
int(locs["loc"].lng *1e7), # longitude
|
||||
33.0000, # altitude
|
||||
mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
|
||||
seq += 1
|
||||
items.append(item)
|
||||
continue
|
||||
count = len(locs)
|
||||
for loc in locs:
|
||||
item = self.mav.mav.mission_item_int_encode(
|
||||
target_system,
|
||||
target_component,
|
||||
seq, # seq
|
||||
mavutil.mavlink.MAV_FRAME_GLOBAL,
|
||||
vertex_type,
|
||||
0, # current
|
||||
0, # autocontinue
|
||||
count, # p1
|
||||
0, # p2
|
||||
0, # p3
|
||||
0, # p4
|
||||
int(loc.lat *1e7), # latitude
|
||||
int(loc.lng *1e7), # longitude
|
||||
33.0000, # altitude
|
||||
mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
|
||||
seq += 1
|
||||
items.append(item)
|
||||
|
||||
self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_FENCE,
|
||||
items)
|
||||
|
||||
def wait_for_initial_mode(self):
|
||||
'''wait until we get a heartbeat with an expected initial mode (the
|
||||
one specified in the vehicle constructor)'''
|
||||
|
|
@ -3094,6 +3351,19 @@ switch value'''
|
|||
self.progress("---------- %s ----------" % description)
|
||||
self.progress("-")
|
||||
|
||||
def start_subsubtest(self, description):
|
||||
self.progress(".")
|
||||
self.progress(".......... %s .........." % description)
|
||||
self.progress(".")
|
||||
|
||||
def end_subtest(self, description):
|
||||
'''TODO: sanity checks?'''
|
||||
pass
|
||||
|
||||
def end_subsubtest(self, description):
|
||||
'''TODO: sanity checks?'''
|
||||
pass
|
||||
|
||||
def test_skipped(self, test, reason):
|
||||
(name, desc, func) = test
|
||||
self.progress("##### %s is skipped: %s" % (name, reason))
|
||||
|
|
@ -3142,6 +3412,8 @@ switch value'''
|
|||
self.progress("Setting up RC parameters")
|
||||
self.set_rc_default()
|
||||
self.wait_for_mode_switch_poll()
|
||||
if not self.is_tracker(): # FIXME - more to the point, fix Tracker's mission handling
|
||||
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_ALL)
|
||||
|
||||
for test in tests:
|
||||
(name, desc, func) = test
|
||||
|
|
|
|||
|
|
@ -353,12 +353,26 @@ def start_SITL(binary,
|
|||
return child
|
||||
|
||||
|
||||
def mavproxy_cmd():
|
||||
'''return path to which mavproxy to use'''
|
||||
return os.getenv('MAVPROXY_CMD', 'mavproxy.py')
|
||||
|
||||
def MAVProxy_version():
|
||||
'''return the current version of mavproxy as a tuple e.g. (1,8,8)'''
|
||||
command = "%s --version" % mavproxy_cmd()
|
||||
output = subprocess.Popen(command, shell=True, stdout=subprocess.PIPE).communicate()[0]
|
||||
output = output.decode('ascii')
|
||||
match = re.search("MAVProxy Version: ([0-9]+)[.]([0-9]+)[.]([0-9]+)", output)
|
||||
if match is None:
|
||||
raise ValueError("Unable to determine MAVProxy version from (%s)" % output)
|
||||
return (int(match.group(1)), int(match.group(2)), int(match.group(3)))
|
||||
|
||||
def start_MAVProxy_SITL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760',
|
||||
options=[], logfile=sys.stdout):
|
||||
"""Launch mavproxy connected to a SITL instance."""
|
||||
import pexpect
|
||||
global close_list
|
||||
MAVPROXY = os.getenv('MAVPROXY_CMD', 'mavproxy.py')
|
||||
MAVPROXY = mavproxy_cmd()
|
||||
cmd = MAVPROXY + ' --master=%s --out=127.0.0.1:14550' % master
|
||||
if setup:
|
||||
cmd += ' --setup'
|
||||
|
|
|
|||
|
|
@ -0,0 +1,11 @@
|
|||
QGC WPL 110
|
||||
0 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071766 -105.230202 0.000000 0
|
||||
1 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071014 -105.230247 0.000000 0
|
||||
2 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071014 -105.228821 0.000000 0
|
||||
3 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071609 -105.228867 0.000000 0
|
||||
4 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071602 -105.228172 0.000000 0
|
||||
5 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.070858 -105.227982 0.000000 0
|
||||
6 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.070789 -105.226219 0.000000 0
|
||||
7 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.072453 -105.226379 0.000000 0
|
||||
8 0 0 5004 20.000000 0.000000 0.000000 0.000000 40.071609 -105.228172 0.000000 0
|
||||
9 0 0 5004 20.000000 0.000000 0.000000 0.000000 40.071625 -105.227982 0.000000 0
|
||||
|
|
@ -0,0 +1,4 @@
|
|||
QGC WPL 110
|
||||
0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.071377 -105.229790 0.000000 1
|
||||
1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071260 -105.227000 100.000000 1
|
||||
2 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
|
||||
|
|
@ -0,0 +1,25 @@
|
|||
QGC WPL 110
|
||||
0 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071613 -105.230118 0.000000 0
|
||||
1 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071644 -105.229393 0.000000 0
|
||||
2 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071106 -105.229393 0.000000 0
|
||||
3 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071747 -105.228668 0.000000 0
|
||||
4 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072220 -105.228775 0.000000 0
|
||||
5 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072357 -105.229729 0.000000 0
|
||||
6 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072777 -105.229988 0.000000 0
|
||||
7 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073181 -105.228897 0.000000 0
|
||||
8 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072914 -105.228073 0.000000 0
|
||||
9 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073387 -105.228180 0.000000 0
|
||||
10 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073635 -105.229431 0.000000 0
|
||||
11 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073967 -105.229301 0.000000 0
|
||||
12 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073891 -105.227478 0.000000 0
|
||||
13 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072697 -105.227440 0.000000 0
|
||||
14 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072430 -105.227898 0.000000 0
|
||||
15 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071880 -105.227196 0.000000 0
|
||||
16 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071407 -105.227730 0.000000 0
|
||||
17 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.070194 -105.227249 0.000000 0
|
||||
18 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.070175 -105.230110 0.000000 0
|
||||
19 0 0 5002 4.000000 0.000000 0.000000 0.000000 40.071922 -105.228676 0.000000 0
|
||||
20 0 0 5002 4.000000 0.000000 0.000000 0.000000 40.071712 -105.228172 0.000000 0
|
||||
21 0 0 5002 4.000000 0.000000 0.000000 0.000000 40.071560 -105.228676 0.000000 0
|
||||
22 0 0 5002 4.000000 0.000000 0.000000 0.000000 40.071739 -105.228920 0.000000 0
|
||||
23 0 0 5004 20.000000 0.000000 0.000000 0.000000 40.072430 -105.228004 0.000000 0
|
||||
|
|
@ -0,0 +1,4 @@
|
|||
QGC WPL 110
|
||||
0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.071377 -105.229790 0.000000 1
|
||||
1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.073799 -105.229156 100.000000 1
|
||||
2 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
|
||||
Loading…
Reference in New Issue