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Added RTL with Auto_land test 

Fixed Simple Mode test
This commit is contained in:
Jason Short 2012-01-05 22:13:20 -08:00
parent e116636fe9
commit 6d827d0087
1 changed files with 42 additions and 5 deletions
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47
Tools/autotest/arducopter.py
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@ -152,12 +152,11 @@ def fly_square(mavproxy, mav, side=50, timeout=120):
return not failed
def fly_simple(mavproxy, mav, side=60, timeout=120):
'''fly a square, flying N then E'''
def fly_RTL(mavproxy, mav, side=60):
'''Fly, return, land'''
mavproxy.send('switch 6\n')
wait_mode(mav, 'STABILIZE')
mavproxy.send('rc 3 1430\n')
tstart = time.time()
failed = False
print("# Going forward %u meters" % side)
@ -166,8 +165,35 @@ def fly_simple(mavproxy, mav, side=60, timeout=120):
failed = True
mavproxy.send('rc 2 1500\n')
print("# Enter RTL")
mavproxy.send('switch 3\n')
tstart = time.time()
while time.time() < tstart + 120:
m = mav.recv_match(type='VFR_HUD', blocking=True)
pos = current_location(mav)
#delta = get_distance(start, pos)
print("Alt: %u" % m.alt)
if(m.alt <= 1):
return True
return True
def fly_simple(mavproxy, mav, side=60, timeout=120):
'''fly Simple, flying N then E'''
mavproxy.send('switch 6\n')
wait_mode(mav, 'STABILIZE')
mavproxy.send('rc 3 1430\n')
tstart = time.time()
failed = False
print("# Going forward %u meters" % side)
mavproxy.send('rc 2 1390\n')
if not wait_distance(mav, side, 5, 60):
failed = True
mavproxy.send('rc 2 1500\n')
print("# Going east for 30 seconds")
mavproxy.send('rc 1 1650\n')
mavproxy.send('rc 1 1610\n')
tstart = time.time()
while time.time() < (tstart + 30):
m = mav.recv_match(type='VFR_HUD', blocking=True)
@ -176,12 +202,13 @@ def fly_simple(mavproxy, mav, side=60, timeout=120):
mavproxy.send('rc 1 1500\n')
print("# Going back %u meters" % side)
mavproxy.send('rc 2 1650\n')
mavproxy.send('rc 2 1610\n')
if not wait_distance(mav, side, 5, 60):
failed = True
mavproxy.send('rc 2 1500\n')
#restore to default
mavproxy.send('param set SIMPLE 0\n')
mavproxy.send('rc 3 1430\n')
return not failed
@ -362,6 +389,16 @@ def fly_ArduCopter(viewerip=None):
print("takeoff failed")
failed = True
print("# Test RTL")
if not fly_RTL(mavproxy, mav):
print("RTL failed")
failed = True
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
print("takeoff failed")
failed = True
# Loiter for 30 seconds
print("# Loiter for 30 seconds")
if not loiter(mavproxy, mav, 30):