mirror of https://github.com/ArduPilot/ardupilot
Tools: expect message for EKF readiness rather than sleeping
This solves a problem for me when running Valgrind as 30s was not sufficient
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@ -18,9 +18,12 @@ HOME = mavutil.location(40.071374969556928, -105.22978898137808, 1583.702759, 24
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homeloc = None
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def arm_rover(mavproxy, mav):
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def wait_ready_to_arm(mavproxy):
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# wait for EKF and GPS checks to pass
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wait_seconds(mav, 30)
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mavproxy.expect('IMU0 is using GPS')
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def arm_rover(mavproxy, mav):
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wait_ready_to_arm(mavproxy);
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mavproxy.send('arm throttle\n')
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mavproxy.expect('ARMED')
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@ -29,6 +29,10 @@ num_wp = 0
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speedup_default = 10
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def wait_ready_to_arm(mavproxy):
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# wait for EKF and GPS checks to pass
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mavproxy.expect('IMU0 is using GPS')
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def hover(mavproxy, mav, hover_throttle=1500):
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mavproxy.send('rc 3 %u\n' % hover_throttle)
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return True
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@ -1027,8 +1031,7 @@ def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fal
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setup_rc(mavproxy)
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homeloc = mav.location()
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# wait for EKF and GPS checks to pass
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wait_seconds(mav, 30)
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wait_ready_to_arm(mavproxy)
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# Arm
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print("# Arm motors")
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@ -1378,8 +1381,7 @@ def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fals
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print("Lowering rotor speed")
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mavproxy.send('rc 8 1000\n')
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# wait for EKF and GPS checks to pass
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wait_seconds(mav, 30)
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wait_ready_to_arm(mavproxy)
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# Arm
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print("# Arm motors")
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@ -19,12 +19,14 @@ WIND = "0,180,0.2" # speed,direction,variance
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homeloc = None
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def wait_ready_to_arm(mavproxy):
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# wait for EKF and GPS checks to pass
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mavproxy.expect('IMU0 is using GPS')
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def takeoff(mavproxy, mav):
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"""Takeoff get to 30m altitude."""
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# wait for EKF and GPS checks to pass
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wait_seconds(mav, 30)
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wait_ready_to_arm(mavproxy)
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mavproxy.send('arm throttle\n')
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mavproxy.expect('ARMED')
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