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Tools: fix Rover AutoDock test

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Shiv Tyagi 2022-09-08 15:13:47 +05:30 committed by Peter Barker
parent 8bdc85f9c6
commit 6393ef6b8e
1 changed files with 5 additions and 3 deletions
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8
Tools/autotest/rover.py
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@ -5965,6 +5965,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
target = start target = start
(target.lat, target.lng) = mavextra.gps_offset(start.lat, start.lng, 4, -4) (target.lat, target.lng) = mavextra.gps_offset(start.lat, start.lng, 4, -4)
self.progress("Setting target to %f %f" % (start.lat, start.lng)) self.progress("Setting target to %f %f" % (start.lat, start.lng))
stopping_dist = 0.5
self.set_parameters({ self.set_parameters({
"SIM_PLD_ENABLE": 1, "SIM_PLD_ENABLE": 1,
@ -5976,6 +5977,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
"SIM_PLD_ORIENT": 4, # emit beams towards south, vehicle's heading must be north to see it "SIM_PLD_ORIENT": 4, # emit beams towards south, vehicle's heading must be north to see it
"SIM_PLD_OPTIONS": 1, "SIM_PLD_OPTIONS": 1,
"DOCK_SPEED": 2, "DOCK_SPEED": 2,
"DOCK_STOP_DIST": stopping_dist,
}) })
for type in range(0, 3): # CYLINDRICAL FOV, CONICAL FOV, SPHERICAL FOV for type in range(0, 3): # CYLINDRICAL FOV, CONICAL FOV, SPHERICAL FOV
@ -5994,11 +5996,11 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.disarm_vehicle() self.disarm_vehicle()
self.assert_receive_message('GLOBAL_POSITION_INT') self.assert_receive_message('GLOBAL_POSITION_INT')
new_pos = self.mav.location() new_pos = self.mav.location()
delta = self.get_distance(target, new_pos) delta = abs(self.get_distance(target, new_pos) - stopping_dist)
self.progress("Docked %f metres from target position" % delta) self.progress("Docked %f metres from stopping point" % delta)
max_delta = 0.5 max_delta = 0.5
if delta > max_delta: if delta > max_delta:
raise NotAchievedException("Did not dock close enough to target position (%fm > %fm" % (delta, max_delta)) raise NotAchievedException("Did not dock close enough to stopping point (%fm > %fm" % (delta, max_delta))
if not self.current_onboard_log_contains_message("PL"): if not self.current_onboard_log_contains_message("PL"):
raise NotAchievedException("Did not see expected PL message") raise NotAchievedException("Did not see expected PL message")