mirror of https://github.com/ArduPilot/ardupilot
fixed wait_mode()
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parent
91f0722e22
commit
395ad44dd9
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@ -18,7 +18,7 @@ def arm_motors(mavproxy, mav):
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'''arm motors'''
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print("Arming motors")
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mavproxy.send('switch 6\n') # stabilize mode
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mav.wait_mode('STABILIZE')
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wait_mode(mav, 'STABILIZE')
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mavproxy.send('rc 3 1000\n')
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mavproxy.send('rc 4 2000\n')
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mavproxy.expect('APM: ARMING MOTORS')
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@ -41,7 +41,7 @@ def disarm_motors(mavproxy, mav):
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def takeoff(mavproxy, mav):
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'''takeoff get to 30m altitude'''
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mavproxy.send('switch 6\n') # stabilize mode
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mav.wait_mode('STABILIZE')
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wait_mode(mav, 'STABILIZE')
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mavproxy.send('rc 3 1500\n')
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wait_altitude(mav, 30, 40)
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print("TAKEOFF COMPLETE")
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@ -51,7 +51,7 @@ def takeoff(mavproxy, mav):
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def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
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'''hold loiter position'''
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mavproxy.send('switch 5\n') # loiter mode
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mav.wait_mode('LOITER')
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wait_mode(mav, 'LOITER')
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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start_altitude = m.alt
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tstart = time.time()
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@ -72,7 +72,7 @@ def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
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def fly_square(mavproxy, mav, side=50, timeout=120):
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'''fly a square, flying N then E'''
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mavproxy.send('switch 6\n')
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mav.wait_mode('STABILIZE')
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wait_mode(mav, 'STABILIZE')
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tstart = time.time()
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failed = False
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@ -132,7 +132,7 @@ def land(mavproxy, mav, timeout=60):
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'''land the quad'''
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print("STARTING LANDING")
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mavproxy.send('switch 6\n')
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mav.wait_mode('STABILIZE')
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wait_mode(mav, 'STABILIZE')
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# start by dropping throttle till we have lost 5m
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mavproxy.send('rc 3 1380\n')
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