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Tools: autotest: ensure initial home position is similar to sitl start pos

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Peter Barker 2019-03-13 08:39:35 +11:00 committed by Peter Barker
parent 2d16c37844
commit 0aeb6c0e26
1 changed files with 14 additions and 0 deletions
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14
Tools/autotest/common.py
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@ -1872,6 +1872,20 @@ class AutoTest(ABC):
if orig_home is None:
raise AutoTestTimeoutException()
self.progress("Original home: %s" % str(orig_home))
# original home should be close to SITL home...
start_loc = self.sitl_start_location()
self.progress("SITL start loc: %s" % str(start_loc))
if abs(orig_home.latitude * 1.0e-7 - start_loc.lat) > 0.0000001:
raise ValueError("homes differ in lat")
if abs(orig_home.longitude * 1.0e-7 - start_loc.lng) > 0.0000001:
raise ValueError("homes differ in lon")
if self.is_rover():
self.progress("### Rover skipping altitude check unti position fixes in")
else:
home_alt_m = orig_home.altitude * 1.0e-3
if abs(home_alt_m - start_loc.alt) > 2: # metres
raise ValueError("homes differ in alt got=%fm want=%fm" %
(home_alt_m, start_loc.alt))
new_x = orig_home.latitude + 1000
new_y = orig_home.longitude + 2000
new_z = orig_home.altitude + 300000 # 300 metres