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autotest: tidy fly_guided_move_local

This commit is contained in:
Peter Barker 2021-05-12 10:54:22 +10:00 committed by Peter Barker
parent 7e677d1e75
commit 7ab094f3a1
1 changed files with 2 additions and 22 deletions
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24
Tools/autotest/arducopter.py
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@ -3482,30 +3482,10 @@ class AutoTestCopter(AutoTest):
)
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:
raise NotAchievedException("Did not reach destination")
if self.distance_to_local_position((x, y, -z_up)) < 1:
break
self.progress("Waiting for vehicle to stop...")
self.wait_groundspeed(1, 100, timeout=timeout)
stoppos = self.mav.recv_match(type='LOCAL_POSITION_NED', blocking=True)
self.progress("stop_pos=%s" % str(stoppos))
x_achieved = stoppos.x - startpos.x
if x_achieved - x > 1:
raise NotAchievedException("Did not achieve x position: want=%f got=%f" % (x, x_achieved))
y_achieved = stoppos.y - startpos.y
if y_achieved - y > 1:
raise NotAchievedException("Did not achieve y position: want=%f got=%f" % (y, y_achieved))
z_achieved = stoppos.z - startpos.z
if z_achieved - z_up > 1:
raise NotAchievedException("Did not achieve z position: want=%f got=%f" % (z_up, z_achieved))
def test_guided_local_position_target(self, x, y, z_up):
""" Check target position being received by vehicle """
# set POSITION_TARGET_LOCAL_NED message rate using SET_MESSAGE_INTERVAL