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fixed home location

This commit is contained in:
Andrew Tridgell 2011-11-02 10:26:24 +11:00
parent b6dcfa416b
commit 40c87dd295
1 changed files with 7 additions and 4 deletions
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11
Tools/autotest/arducopter.py
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@ -10,6 +10,8 @@ import mavutil
HOME_LOCATION='-35.362938,149.165085,650,270' HOME_LOCATION='-35.362938,149.165085,650,270'
homeloc = None
# a list of pexpect objects to read while waiting for # a list of pexpect objects to read while waiting for
# messages. This keeps the output to stdout flowing # messages. This keeps the output to stdout flowing
expect_list = [] expect_list = []
@ -231,7 +233,7 @@ def land(mavproxy, mav, timeout=60):
def fly_mission(mavproxy, mav, filename): def fly_mission(mavproxy, mav, filename):
'''fly a mission from a file''' '''fly a mission from a file'''
startloc = current_location(mav) global homeloc
mavproxy.send('wp load %s\n' % filename) mavproxy.send('wp load %s\n' % filename)
mavproxy.expect('flight plan received') mavproxy.expect('flight plan received')
mavproxy.send('wp list\n') mavproxy.send('wp list\n')
@ -239,7 +241,7 @@ def fly_mission(mavproxy, mav, filename):
mavproxy.send('switch 1\n') # auto mode mavproxy.send('switch 1\n') # auto mode
mavproxy.expect('AUTO>') mavproxy.expect('AUTO>')
wait_distance(mav, 30, timeout=120) wait_distance(mav, 30, timeout=120)
wait_location(mav, startloc, timeout=600) wait_location(mav, homeloc, timeout=600)
def setup_rc(mavproxy): def setup_rc(mavproxy):
@ -252,7 +254,7 @@ def setup_rc(mavproxy):
def fly_ArduCopter(): def fly_ArduCopter():
'''fly ArduCopter in SIL''' '''fly ArduCopter in SIL'''
global expect_list global expect_list, homeloc
util.rmfile('eeprom.bin') util.rmfile('eeprom.bin')
sil = util.start_SIL('ArduCopter') sil = util.start_SIL('ArduCopter')
@ -298,8 +300,9 @@ def fly_ArduCopter():
failed = False failed = False
try: try:
mav.wait_heartbeat() mav.wait_heartbeat()
mav.recv_match(type='GPS_RAW') mav.recv_match(type='GPS_RAW', blocking=True)
setup_rc(mavproxy) setup_rc(mavproxy)
homeloc = current_location(mav)
arm_motors(mavproxy) arm_motors(mavproxy)
takeoff(mavproxy, mav) takeoff(mavproxy, mav)
fly_square(mavproxy, mav) fly_square(mavproxy, mav)