Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

autotest: tidy GpsForYaw using new infrastructure

This commit is contained in:
Peter Barker 2024-11-14 10:03:58 +11:00 committed by Peter Barker
parent 86f216703d
commit 3674eb0c49
1 changed files with 6 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

25
Tools/autotest/arducopter.py
View File

@ -9832,28 +9832,15 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
def GPSForYaw(self): def GPSForYaw(self):
'''Moving baseline GPS yaw''' '''Moving baseline GPS yaw'''
self.context_push()
self.load_default_params_file("copter-gps-for-yaw.parm") self.load_default_params_file("copter-gps-for-yaw.parm")
self.reboot_sitl() self.reboot_sitl()
ex = None
try:
self.wait_gps_fix_type_gte(6, message_type="GPS2_RAW", verbose=True)
m = self.assert_receive_message("GPS2_RAW")
self.progress(self.dump_message_verbose(m))
want = 27000
if abs(m.yaw - want) > 500:
raise NotAchievedException("Expected to get GPS-from-yaw (want %f got %f)" % (want, m.yaw))
self.wait_ready_to_arm()
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop() self.wait_gps_fix_type_gte(6, message_type="GPS2_RAW", verbose=True)
m = self.assert_receive_message("GPS2_RAW", very_verbose=True)
self.reboot_sitl() want = 27000
if abs(m.yaw - want) > 500:
if ex is not None: raise NotAchievedException("Expected to get GPS-from-yaw (want %f got %f)" % (want, m.yaw))
raise ex self.wait_ready_to_arm()
def SMART_RTL_EnterLeave(self): def SMART_RTL_EnterLeave(self):
'''check SmartRTL behaviour when entering/leaving''' '''check SmartRTL behaviour when entering/leaving'''