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autotest: don't die if FG isn't running

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This commit is contained in:
Andrew Tridgell 2011-12-02 17:16:23 +11:00
parent 7167fec784
commit 1878db2013
1 changed files with 11 additions and 3 deletions
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14
Tools/autotest/pysim/sim_quad.py
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@ -3,7 +3,7 @@
from quadcopter import QuadCopter from quadcopter import QuadCopter
import euclid, util, time, os, sys, math import euclid, util, time, os, sys, math
import socket, struct import socket, struct
import select, fgFDM import select, fgFDM, errno
# find the mavlink.py module # find the mavlink.py module
for d in [ 'pymavlink', for d in [ 'pymavlink',
@ -32,7 +32,11 @@ def sim_send(m, a, r):
fdm.set('num_engines', 4) fdm.set('num_engines', 4)
for i in range(4): for i in range(4):
fdm.set('rpm', 1000*m[i], idx=i) fdm.set('rpm', 1000*m[i], idx=i)
fg_out.send(fdm.pack()) try:
fg_out.send(fdm.pack())
except socket.error as e:
if not e.errno in [ errno.ECONNREFUSED ]:
raise
buf = struct.pack('>ddddddddddddddddI', buf = struct.pack('>ddddddddddddddddI',
a.latitude, a.longitude, util.m2ft(a.altitude), a.yaw, a.latitude, a.longitude, util.m2ft(a.altitude), a.yaw,
@ -42,7 +46,11 @@ def sim_send(m, a, r):
a.roll, a.pitch, a.yaw, a.roll, a.pitch, a.yaw,
util.m2ft(math.sqrt(a.velocity.x*a.velocity.x + a.velocity.y*a.velocity.y)), util.m2ft(math.sqrt(a.velocity.x*a.velocity.x + a.velocity.y*a.velocity.y)),
0x4c56414d) 0x4c56414d)
sim_out.send(buf) try:
sim_out.send(buf)
except socket.error as e:
if not e.errno in [ errno.ECONNREFUSED ]:
raise
def sim_recv(m, a, r): def sim_recv(m, a, r):