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fixed wait_mode()

This commit is contained in:
Andrew Tridgell 2011-11-13 21:20:10 +11:00
parent 91f0722e22
commit 395ad44dd9
1 changed files with 5 additions and 5 deletions
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10
Tools/autotest/arducopter.py
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@ -18,7 +18,7 @@ def arm_motors(mavproxy, mav):
'''arm motors''' '''arm motors'''
print("Arming motors") print("Arming motors")
mavproxy.send('switch 6\n') # stabilize mode mavproxy.send('switch 6\n') # stabilize mode
mav.wait_mode('STABILIZE') wait_mode(mav, 'STABILIZE')
mavproxy.send('rc 3 1000\n') mavproxy.send('rc 3 1000\n')
mavproxy.send('rc 4 2000\n') mavproxy.send('rc 4 2000\n')
mavproxy.expect('APM: ARMING MOTORS') mavproxy.expect('APM: ARMING MOTORS')
@ -41,7 +41,7 @@ def disarm_motors(mavproxy, mav):
def takeoff(mavproxy, mav): def takeoff(mavproxy, mav):
'''takeoff get to 30m altitude''' '''takeoff get to 30m altitude'''
mavproxy.send('switch 6\n') # stabilize mode mavproxy.send('switch 6\n') # stabilize mode
mav.wait_mode('STABILIZE') wait_mode(mav, 'STABILIZE')
mavproxy.send('rc 3 1500\n') mavproxy.send('rc 3 1500\n')
wait_altitude(mav, 30, 40) wait_altitude(mav, 30, 40)
print("TAKEOFF COMPLETE") print("TAKEOFF COMPLETE")
@ -51,7 +51,7 @@ def takeoff(mavproxy, mav):
def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60): def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
'''hold loiter position''' '''hold loiter position'''
mavproxy.send('switch 5\n') # loiter mode mavproxy.send('switch 5\n') # loiter mode
mav.wait_mode('LOITER') wait_mode(mav, 'LOITER')
m = mav.recv_match(type='VFR_HUD', blocking=True) m = mav.recv_match(type='VFR_HUD', blocking=True)
start_altitude = m.alt start_altitude = m.alt
tstart = time.time() tstart = time.time()
@ -72,7 +72,7 @@ def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
def fly_square(mavproxy, mav, side=50, timeout=120): def fly_square(mavproxy, mav, side=50, timeout=120):
'''fly a square, flying N then E''' '''fly a square, flying N then E'''
mavproxy.send('switch 6\n') mavproxy.send('switch 6\n')
mav.wait_mode('STABILIZE') wait_mode(mav, 'STABILIZE')
tstart = time.time() tstart = time.time()
failed = False failed = False
@ -132,7 +132,7 @@ def land(mavproxy, mav, timeout=60):
'''land the quad''' '''land the quad'''
print("STARTING LANDING") print("STARTING LANDING")
mavproxy.send('switch 6\n') mavproxy.send('switch 6\n')
mav.wait_mode('STABILIZE') wait_mode(mav, 'STABILIZE')
# start by dropping throttle till we have lost 5m # start by dropping throttle till we have lost 5m
mavproxy.send('rc 3 1380\n') mavproxy.send('rc 3 1380\n')