mirror of https://github.com/ArduPilot/ardupilot
autotest: tidy fly_guided_move_local
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@ -3482,30 +3482,10 @@ class AutoTestCopter(AutoTest):
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)
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while True:
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if self.get_sim_time_cached() - tstart > timeout:
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raise NotAchievedException("Did not start to move")
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m = self.mav.recv_match(type='VFR_HUD', blocking=True)
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print("%s" % m)
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if m.groundspeed > 0.5:
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raise NotAchievedException("Did not reach destination")
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if self.distance_to_local_position((x, y, -z_up)) < 1:
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break
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self.progress("Waiting for vehicle to stop...")
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self.wait_groundspeed(1, 100, timeout=timeout)
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stoppos = self.mav.recv_match(type='LOCAL_POSITION_NED', blocking=True)
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self.progress("stop_pos=%s" % str(stoppos))
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x_achieved = stoppos.x - startpos.x
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if x_achieved - x > 1:
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raise NotAchievedException("Did not achieve x position: want=%f got=%f" % (x, x_achieved))
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y_achieved = stoppos.y - startpos.y
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if y_achieved - y > 1:
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raise NotAchievedException("Did not achieve y position: want=%f got=%f" % (y, y_achieved))
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z_achieved = stoppos.z - startpos.z
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if z_achieved - z_up > 1:
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raise NotAchievedException("Did not achieve z position: want=%f got=%f" % (z_up, z_achieved))
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def test_guided_local_position_target(self, x, y, z_up):
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""" Check target position being received by vehicle """
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# set POSITION_TARGET_LOCAL_NED message rate using SET_MESSAGE_INTERVAL
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