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

AutoTest: shorten simple and super simple tests

This commit is contained in:
Randy Mackay 2013-10-05 22:23:19 +09:00
parent 0cd49f3ca0
commit 4c32f4dbdb
1 changed files with 14 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
Tools/autotest/arducopter.py
View File

@ -595,7 +595,7 @@ def fly_gps_glitch_auto_test(mavproxy, mav, timeout=30, max_distance=100):
#fly_simple - assumes the simple bearing is initialised to be directly north
# flies a box with 100m west, 15 seconds north, 50 seconds east, 15 seconds south
def fly_simple(mavproxy, mav, side=100, timeout=120):
def fly_simple(mavproxy, mav, side=50, timeout=120):
failed = False
@ -611,35 +611,35 @@ def fly_simple(mavproxy, mav, side=100, timeout=120):
wait_mode(mav, 'STABILIZE')
mavproxy.send('rc 3 1400\n')
# fly west 100m
print("# Flying west %u meters" % side)
# fly south 50m
print("# Flying south %u meters" % side)
mavproxy.send('rc 1 1300\n')
if not wait_distance(mav, side, 5, 60):
failed = True
mavproxy.send('rc 1 1500\n')
# fly north 15 seconds
print("# Flying north for 15 seconds")
# fly west 8 seconds
print("# Flying west for 8 seconds")
mavproxy.send('rc 2 1300\n')
tstart = time.time()
while time.time() < (tstart + 15):
while time.time() < (tstart + 8):
m = mav.recv_match(type='VFR_HUD', blocking=True)
delta = (time.time() - tstart)
#print("%u" % delta)
mavproxy.send('rc 2 1500\n')
# fly east 50 meters
print("# Flying east %u meters" % (side/2.0))
# fly north 25 meters
print("# Flying north %u meters" % (side/2.0))
mavproxy.send('rc 1 1700\n')
if not wait_distance(mav, side/2, 5, 60):
failed = True
mavproxy.send('rc 1 1500\n')
# fly south 15 seconds
print("# Flying south for 15 seconds")
# fly east 8 seconds
print("# Flying east for 8 seconds")
mavproxy.send('rc 2 1700\n')
tstart = time.time()
while time.time() < (tstart + 15):
while time.time() < (tstart + 8):
m = mav.recv_match(type='VFR_HUD', blocking=True)
delta = (time.time() - tstart)
#print("%u" % delta)
@ -652,8 +652,8 @@ def fly_simple(mavproxy, mav, side=100, timeout=120):
hover(mavproxy, mav)
return not failed
#fly_super_simple - flies a circle around home for 60 seconds
def fly_super_simple(mavproxy, mav, timeout=600):
#fly_super_simple - flies a circle around home for 45 seconds
def fly_super_simple(mavproxy, mav, timeout=45):
failed = False
@ -661,7 +661,7 @@ def fly_super_simple(mavproxy, mav, timeout=600):
mavproxy.send('switch 5\n') # loiter mode
wait_mode(mav, 'LOITER')
# fly forward 50m
# fly forward 20m
print("# Flying forward 20 meters")
mavproxy.send('rc 2 1300\n')
if not wait_distance(mav, 20, 5, 60):