mirror of https://github.com/ArduPilot/ardupilot
Added new tests
This commit is contained in:
Jason Short
parent
da8d342a08
commit
6e81b1a6f8
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@ -45,28 +45,32 @@ def disarm_motors(mavproxy, mav):
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return True
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def takeoff(mavproxy, mav, alt_min = 30, alt_max = 40):
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def takeoff(mavproxy, mav, alt_min = 30):
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'''takeoff get to 30m altitude'''
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mavproxy.send('switch 6\n') # stabilize mode
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wait_mode(mav, 'STABILIZE')
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mavproxy.send('rc 3 1500\n')
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wait_altitude(mav, alt_min, alt_max)
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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if (m.alt < alt_min):
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wait_altitude(mav, alt_min, (alt_min + 5))
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print("TAKEOFF COMPLETE")
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return True
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def loiter(mavproxy, mav, holdtime=20, maxaltchange=10, timeout=60):
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'''hold loiter position'''
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mavproxy.send('switch 5\n') # loiter mode
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wait_mode(mav, 'LOITER')
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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start_altitude = m.alt
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start = current_location(mav)
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tstart = time.time()
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tholdstart = time.time()
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print("Holding loiter at %u meters for %u seconds" % (start_altitude, holdtime))
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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print("Altitude %u" % m.alt)
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pos = current_location(mav)
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delta = get_distance(start, pos)
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print("Loiter Dist: %.2fm, alt:%u" % (delta, m.alt))
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if math.fabs(m.alt - start_altitude) > maxaltchange:
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tholdstart = time.time()
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if time.time() - tholdstart > holdtime:
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@ -75,6 +79,20 @@ def loiter(mavproxy, mav, holdtime=20, maxaltchange=10, timeout=60):
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print("Loiter FAILED")
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return False
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def change_alt(mavproxy, mav, alt_min):
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'''change altitude'''
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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if(m.alt < alt_min):
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print("Rise to alt:%u from %u" % (alt_min, m.alt))
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mavproxy.send('rc 3 1800\n')
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wait_altitude(mav, alt_min, (alt_min + 5))
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else:
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print("Lower to alt:%u from %u" % (alt_min, m.alt))
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mavproxy.send('rc 3 1100\n')
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wait_altitude(mav, (alt_min -5), alt_min)
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mavproxy.send('rc 3 1430\n')
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return True
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def fly_square(mavproxy, mav, side=50, timeout=120):
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'''fly a square, flying N then E'''
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@ -83,7 +101,7 @@ def fly_square(mavproxy, mav, side=50, timeout=120):
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tstart = time.time()
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failed = False
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print("Save WP 1")
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print("Save WP 1 and 2")
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save_wp(mavproxy, mav)
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print("turn")
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@ -99,7 +117,7 @@ def fly_square(mavproxy, mav, side=50, timeout=120):
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failed = True
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mavproxy.send('rc 2 1500\n')
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print("Save WP 2")
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print("Save WP 3")
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save_wp(mavproxy, mav)
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print("Going east %u meters" % side)
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@ -108,7 +126,7 @@ def fly_square(mavproxy, mav, side=50, timeout=120):
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failed = True
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mavproxy.send('rc 1 1500\n')
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print("Save WP 3")
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print("Save WP 4")
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save_wp(mavproxy, mav)
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print("Going south %u meters" % side)
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@ -118,7 +136,7 @@ def fly_square(mavproxy, mav, side=50, timeout=120):
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mavproxy.send('rc 2 1500\n')
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mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==1000', blocking=True)
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print("Save WP 4")
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print("Save WP 5")
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save_wp(mavproxy, mav)
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print("Going west %u meters" % side)
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@ -127,31 +145,54 @@ def fly_square(mavproxy, mav, side=50, timeout=120):
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failed = True
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mavproxy.send('rc 1 1500\n')
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print("Save WP 5")
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print("Save WP 6")
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save_wp(mavproxy, mav)
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return not failed
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def fly_simple(mavproxy, mav, side=60, timeout=120):
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'''fly a square, flying N then E'''
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mavproxy.send('switch 6\n')
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wait_mode(mav, 'STABILIZE')
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mavproxy.send('rc 3 1430\ n')
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tstart = time.time()
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failed = False
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print("# Going forward %u meters" % side)
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mavproxy.send('rc 2 1350\n')
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if not wait_distance(mav, side, 5, 60):
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failed = True
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mavproxy.send('rc 2 1500\n')
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print("# Going east for 30 seconds")
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mavproxy.send('rc 1 1650\n')
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tstart = time.time()
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while time.time() < (tstart + 30):
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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delta = (time.time() - tstart)
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#print("%u" % delta)
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mavproxy.send('rc 1 1500\n')
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print("# Going back %u meters" % side)
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mavproxy.send('rc 2 1650\n')
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if not wait_distance(mav, side, 5, 60):
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failed = True
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mavproxy.send('rc 2 1500\n')
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#restore to default
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mavproxy.send('param set SIMPLE 0\n')
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return not failed
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def land(mavproxy, mav, timeout=60):
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'''land the quad'''
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print("STARTING LANDING")
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mavproxy.send('switch 6\n')
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wait_mode(mav, 'STABILIZE')
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# start by dropping throttle till we have lost 5m
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mavproxy.send('rc 3 1380\n')
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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wait_altitude(mav, 0, m.alt-5)
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# now let it settle gently
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mavproxy.send('rc 3 1400\n')
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tstart = time.time()
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ret = wait_altitude(mav, -5, 0)
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print("LANDING: ok=%s" % ret)
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mavproxy.send('switch 2\n')
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wait_mode(mav, 'LAND')
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print("Entered Landing Mode")
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ret = wait_altitude(mav, -5, 5)
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print("LANDING: ok= %s" % ret)
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return ret
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@ -182,7 +223,7 @@ def fly_mission(mavproxy, mav, height_accuracy=-1, target_altitude=None):
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mavproxy.send('switch 4\n') # auto mode
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wait_mode(mav, 'AUTO')
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#wait_altitude(mav, 30, 40)
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ret = wait_waypoint(mav, 0, num_wp, timeout=500)
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ret = wait_waypoint(mav, 0, num_wp-1, timeout=500)
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print("test: MISSION COMPLETE: passed=%s" % ret)
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# wait here until ready
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mavproxy.send('switch 5\n')
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@ -308,47 +349,81 @@ def fly_ArduCopter(viewerip=None):
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setup_rc(mavproxy)
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homeloc = current_location(mav)
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print("# Calibrate level")
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if not calibrate_level(mavproxy, mav):
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print("calibrate_level failed")
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failed = True
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print("# Arm motors")
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if not arm_motors(mavproxy, mav):
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print("arm_motors failed")
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failed = True
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if not takeoff(mavproxy, mav, 10, 15):
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print("# Takeoff")
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if not takeoff(mavproxy, mav, 10):
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print("takeoff failed")
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failed = True
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# Loiter for 10 seconds
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print("# Loiter for 30 seconds")
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if not loiter(mavproxy, mav, 10):
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print("loiter failed")
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failed = True
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print("# Change alt to 60m")
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if not change_alt(mavproxy, mav, 60):
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print("change_alt failed")
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failed = True
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print("# Change alt to 20m")
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if not change_alt(mavproxy, mav, 20):
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print("change_alt failed")
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failed = True
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print("# Change alt to 20m")
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if not change_alt(mavproxy, mav, 20):
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print("change_alt failed")
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failed = True
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print("# Fly A square")
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if not fly_square(mavproxy, mav):
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print("fly_square failed")
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failed = True
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print("# Land")
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if not land(mavproxy, mav):
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print("land failed")
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failed = True
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print("Save landing WP")
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save_wp(mavproxy, mav)
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# save the stored mission
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print("# Save out the C7 mission")
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if not save_mission_to_file(mavproxy, mav, os.path.join(testdir, "ch7_mission.txt")):
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print("save_mission_to_file failed")
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failed = True
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# Loiter for 10 seconds
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print("# Loiter for 20 seconds")
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if not loiter(mavproxy, mav, 20):
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print("loiter failed")
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failed = True
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#Fly a circle for 60 seconds
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print("# Fly a Circle")
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if not circle(mavproxy, mav):
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print("circle failed")
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failed = True
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# save the stored mission
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print("# Fly CH 7 saved mission")
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if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
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print("fly_mission failed")
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failed = True
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#set SIMPLE mode
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mavproxy.send('param set SIMPLE 63\n')
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if not takeoff(mavproxy, mav, 10):
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print("takeoff failed")
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failed = True
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print("# Fly in SIMPLE mode")
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if not fly_simple(mavproxy, mav):
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print("fly_simple failed")
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failed = True
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print("# Upload mission1")
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if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission2.txt")):
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print("upload_mission_from_file failed")
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@ -392,3 +467,10 @@ def fly_ArduCopter(viewerip=None):
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print("FAILED: %s" % e)
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return False
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return True
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#Fly a circle for 60 seconds
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#print("# Fly a Circle")
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#if not circle(mavproxy, mav):
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# print("circle failed")
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# failed = True
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