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Autotest: Copter test_mount correct set_attitude use

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Joshua Henderson 2022-01-18 12:59:37 -05:00 committed by Andrew Tridgell
parent 1ad9e86d98
commit 8580a0e661
1 changed files with 10 additions and 6 deletions
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14
Tools/autotest/arducopter.py
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@ -4104,8 +4104,8 @@ class AutoTestCopter(AutoTest):
0, # bitmask of things to ignore
mavextra.euler_to_quat([0, math.radians(pitch), 0]), # att
0, # roll rate (rad/s)
1, # pitch rate
0, # yaw rate
0, # pitch rate (rad/s)
0, # yaw rate (rad/s)
0.5) # thrust, 0 to 1, translated to a climb/descent rate
def setup_servo_mount(self, roll_servo=5, pitch_servo=6, yaw_servo=7):
@ -4234,6 +4234,10 @@ class AutoTestCopter(AutoTest):
0,
0,
)
# Delay here to allow the attitude to command to timeout and level out the copter a bit
self.delay_sim_time(3)
start = self.mav.location()
self.progress("start=%s" % str(start))
(t_lat, t_lon) = mavextra.gps_offset(start.lat, start.lng, 10, 20)
@ -4263,9 +4267,9 @@ class AutoTestCopter(AutoTest):
1, # target compid
0, # bitmask of things to ignore
mavextra.euler_to_quat([0, 0, 0]), # att
1, # roll rate (rad/s)
1, # pitch rate
1, # yaw rate
0, # roll rate (rad/s)
0, # pitch rate (rad/s)
0, # yaw rate (rad/s)
0.5) # thrust, 0 to 1, translated to a climb/descent rate
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_MOUNT_CONFIGURE,