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Had to disable check of current WP. Going into auto mode executes commands right away and the reported index will differ per mission. Multiple commands may be executed.

This commit is contained in:
Jason Short 2011-11-13 22:58:27 -08:00
parent 0e771a02a4
commit 3001e566ca
1 changed files with 9 additions and 7 deletions
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16
Tools/autotest/common.py
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@ -138,24 +138,25 @@ def wait_location(mav, loc, accuracy=5, timeout=30, target_altitude=None, height
def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, timeout=60): def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, timeout=60):
'''wait for waypoint ranges''' '''wait for waypoint ranges'''
tstart = time.time() tstart = time.time()
# this message arrives after we set the current WP
m = mav.recv_match(type='WAYPOINT_CURRENT', blocking=True) m = mav.recv_match(type='WAYPOINT_CURRENT', blocking=True)
start_wp = m.seq start_wp = m.seq
current_wp = start_wp current_wp = start_wp
print("\n***wait for waypoint ranges start=%u end=%u ***\n\n\n" % (wpnum_start, wpnum_end)) print("\ntest: wait for waypoint ranges start=%u end=%u\n\n" % (wpnum_start, wpnum_end))
if start_wp != wpnum_start: # if start_wp != wpnum_start:
print("Expected start waypoint %u but got %u" % (wpnum_start, start_wp)) # print("test: Expected start waypoint %u but got %u" % (wpnum_start, start_wp))
return False # return False
while time.time() < tstart + timeout: while time.time() < tstart + timeout:
m = mav.recv_match(type='WAYPOINT_CURRENT', blocking=True) m = mav.recv_match(type='WAYPOINT_CURRENT', blocking=True)
seq = m.seq seq = m.seq
m = mav.recv_match(type='NAV_CONTROLLER_OUTPUT', blocking=True) m = mav.recv_match(type='NAV_CONTROLLER_OUTPUT', blocking=True)
wp_dist = m.wp_dist wp_dist = m.wp_dist
print("WP %u (wp_dist=%u)" % (seq, wp_dist)) print("test: WP %u (wp_dist=%u)" % (seq, wp_dist))
if seq == current_wp+1 or (seq > current_wp+1 and allow_skip): if seq == current_wp+1 or (seq > current_wp+1 and allow_skip):
print("Starting new waypoint %u" % seq) print("test: Starting new waypoint %u" % seq)
tstart = time.time() tstart = time.time()
current_wp = seq current_wp = seq
# the wp_dist check is a hack until we can sort out the right seqnum # the wp_dist check is a hack until we can sort out the right seqnum
@ -174,7 +175,8 @@ def save_wp(mavproxy, mav):
mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==2000', blocking=True) mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==2000', blocking=True)
mavproxy.send('rc 7 1000\n') mavproxy.send('rc 7 1000\n')
mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==1000', blocking=True) mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==1000', blocking=True)
mavproxy.send('wp list\n') #mavproxy.send('wp list\n')
#mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==1000', blocking=True)
def wait_mode(mav, mode): def wait_mode(mav, mode):
'''wait for a flight mode to be engaged''' '''wait for a flight mode to be engaged'''