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autotest: send position targets once

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This commit is contained in:
Peter Barker 2020-10-08 12:17:58 +11:00 committed by Randy Mackay
parent d13f6acc66
commit 750f1d4032
1 changed files with 75 additions and 74 deletions
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29
Tools/autotest/arducopter.py
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@ -3056,9 +3056,6 @@ class AutoTestCopter(AutoTest):
"""stop the vehicle moving in guided mode"""
self.progress("Stopping vehicle")
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Vehicle did not stop")
# send a position-control command
self.mav.mav.set_position_target_local_ned_send(
0, # timestamp
@ -3078,6 +3075,9 @@ class AutoTestCopter(AutoTest):
0, # yaw
0, # yawrate
)
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Vehicle did not stop")
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
print("%s" % str(m))
if (m.groundspeed < groundspeed_tolerance and
@ -3088,11 +3088,6 @@ class AutoTestCopter(AutoTest):
startpos = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 200:
raise NotAchievedException("Did not move far enough")
# send a position-control command
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
1, # target system_id
@ -3111,6 +3106,12 @@ class AutoTestCopter(AutoTest):
0, # yaw
0, # yawrate
)
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 200:
raise NotAchievedException("Did not move far enough")
# send a position-control command
pos = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
delta = self.get_distance_int(startpos, pos)
@ -3124,9 +3125,6 @@ class AutoTestCopter(AutoTest):
self.progress("startpos=%s" % str(startpos))
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Did not start to move")
# send a position-control command
self.mav.mav.set_position_target_local_ned_send(
0, # timestamp
@ -3146,6 +3144,9 @@ class AutoTestCopter(AutoTest):
0, # yaw
0, # yawrate
)
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise NotAchievedException("Did not start to move")
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
print("%s" % m)
if m.groundspeed > 0.5:
@ -4410,9 +4411,6 @@ class AutoTestCopter(AutoTest):
def fly_guided_move_to(self, destination, timeout=30):
'''move to mavutil.location location; absolute altitude'''
tstart = self.get_sim_time()
while True:
if self.get_sim_time() - tstart > timeout:
raise NotAchievedException()
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
1, # target system_id
@ -4431,6 +4429,9 @@ class AutoTestCopter(AutoTest):
0, # yaw
0, # yawrate
)
while True:
if self.get_sim_time() - tstart > timeout:
raise NotAchievedException()
delta = self.get_distance(self.mav.location(), destination)
self.progress("delta=%f (want <1)" % delta)
if delta < 1: