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autotest: Remove magic numbers in ardusub

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Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2019-03-26 13:28:49 -03:00 committed by Jacob Walser
parent 7dafde5783
commit 2959d38e0e
1 changed files with 17 additions and 9 deletions
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26
Tools/autotest/ardusub.py
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@ -14,6 +14,14 @@ from common import NotAchievedException
SITL_START_LOCATION = mavutil.location(33.810313, -118.393867, 0, 185) SITL_START_LOCATION = mavutil.location(33.810313, -118.393867, 0, 185)
class Joystick():
Pitch = 1
Roll = 2
Throttle = 3
Yaw = 4
Forward = 5
Lateral = 6
class AutoTestSub(AutoTest): class AutoTestSub(AutoTest):
def log_name(self): def log_name(self):
@ -44,23 +52,23 @@ class AutoTestSub(AutoTest):
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
self.set_rc(3, 1600) self.set_rc(Joystick.Throttle, 1600)
self.set_rc(5, 1600) self.set_rc(Joystick.Forward, 1600)
self.set_rc(6, 1550) self.set_rc(Joystick.Lateral, 1550)
self.wait_distance(50, accuracy=7, timeout=200) self.wait_distance(50, accuracy=7, timeout=200)
self.set_rc(4, 1550) self.set_rc(Joystick.Yaw, 1550)
self.wait_heading(0) self.wait_heading(0)
self.set_rc(4, 1500) self.set_rc(Joystick.Yaw, 1500)
self.wait_distance(50, accuracy=7, timeout=100) self.wait_distance(50, accuracy=7, timeout=100)
self.set_rc(4, 1550) self.set_rc(Joystick.Yaw, 1550)
self.wait_heading(0) self.wait_heading(0)
self.set_rc(4, 1500) self.set_rc(Joystick.Yaw, 1500)
self.set_rc(5, 1500) self.set_rc(Joystick.Forward, 1500)
self.set_rc(6, 1100) self.set_rc(Joystick.Lateral, 1100)
self.wait_distance(75, accuracy=7, timeout=100) self.wait_distance(75, accuracy=7, timeout=100)
self.set_rc_default() self.set_rc_default()