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autotest: fix for new sim_multicopter.py command

This commit is contained in:
Andrew Tridgell 2012-01-04 21:49:19 +11:00
parent 5317e47e2d
commit 45efb174e5
1 changed files with 8 additions and 8 deletions
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16
Tools/autotest/arducopter.py
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@ -280,11 +280,11 @@ def fly_ArduCopter(viewerip=None):
''' '''
global homeloc global homeloc
simquad_cmd = util.reltopdir('Tools/autotest/pysim/sim_quad.py') + ' --rate=400 --home=%f,%f,%u,%u' % ( sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py') + ' --rate=400 --home=%f,%f,%u,%u' % (
HOME.lat, HOME.lng, HOME.alt, HOME.heading) HOME.lat, HOME.lng, HOME.alt, HOME.heading)
simquad_cmd += ' --wind=6,45,.3' sim_cmd += ' --wind=6,45,.3'
if viewerip: if viewerip:
simquad_cmd += ' --fgout=%s:5503' % viewerip sim_cmd += ' --fgout=%s:5503' % viewerip
sil = util.start_SIL('ArduCopter', wipe=True) sil = util.start_SIL('ArduCopter', wipe=True)
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter') mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
@ -300,9 +300,9 @@ def fly_ArduCopter(viewerip=None):
util.pexpect_close(sil) util.pexpect_close(sil)
sil = util.start_SIL('ArduCopter', height=HOME.alt) sil = util.start_SIL('ArduCopter', height=HOME.alt)
simquad = pexpect.spawn(simquad_cmd, logfile=sys.stdout, timeout=10) sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
simquad.delaybeforesend = 0 sim.delaybeforesend = 0
util.pexpect_autoclose(simquad) util.pexpect_autoclose(sim)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5' options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip: if viewerip:
options += ' --out=%s:14550' % viewerip options += ' --out=%s:14550' % viewerip
@ -323,7 +323,7 @@ def fly_ArduCopter(viewerip=None):
util.expect_setup_callback(mavproxy, expect_callback) util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear() expect_list_clear()
expect_list_extend([simquad, sil, mavproxy]) expect_list_extend([sim, sil, mavproxy])
# get a mavlink connection going # get a mavlink connection going
try: try:
@ -451,7 +451,7 @@ def fly_ArduCopter(viewerip=None):
mav.close() mav.close()
util.pexpect_close(mavproxy) util.pexpect_close(mavproxy)
util.pexpect_close(sil) util.pexpect_close(sil)
util.pexpect_close(simquad) util.pexpect_close(sim)
if os.path.exists('ArduCopter-valgrind.log'): if os.path.exists('ArduCopter-valgrind.log'):
os.chmod('ArduCopter-valgrind.log', 0644) os.chmod('ArduCopter-valgrind.log', 0644)