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autotest: MAV_CMD_DO_REPOSITION in sub

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Clyde McQueen 2024-07-24 13:09:44 -07:00 committed by Peter Barker
parent 297fcfd777
commit 872cbc72ff
1 changed files with 30 additions and 0 deletions
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30
Tools/autotest/ardusub.py
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@ -739,6 +739,35 @@ class AutoTestSub(vehicle_test_suite.TestSuite):
self._MAV_CMD_CONDITION_YAW(self.run_cmd)
self._MAV_CMD_CONDITION_YAW(self.run_cmd_int)
def MAV_CMD_DO_REPOSITION(self):
"""Move vehicle using MAV_CMD_DO_REPOSITION"""
self.wait_ready_to_arm()
self.arm_vehicle()
# Dive so that rangefinder is in range, required for MAV_FRAME_GLOBAL_TERRAIN_ALT
start_altitude = -25
pwm = 1300 if self.get_altitude(relative=True) > start_altitude else 1700
self.set_rc(Joystick.Throttle, pwm)
self.wait_altitude(altitude_min=start_altitude-1, altitude_max=start_altitude, relative=False, timeout=120)
self.set_rc(Joystick.Throttle, 1500)
self.change_mode('GUIDED')
loc = self.mav.location()
# Reposition, alt relative to surface
loc = self.offset_location_ne(loc, 10, 10)
loc.alt = start_altitude
self.send_do_reposition(loc, frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT)
self.wait_location(loc, timeout=120)
# Reposition, alt relative to seafloor
loc = self.offset_location_ne(loc, 10, 10)
loc.alt = -start_altitude
self.send_do_reposition(loc, frame=mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT)
self.wait_location(loc, timeout=120)
self.disarm_vehicle()
def TerrainMission(self):
"""Mission using surface tracking"""
@ -877,6 +906,7 @@ class AutoTestSub(vehicle_test_suite.TestSuite):
self.MAV_CMD_MISSION_START,
self.MAV_CMD_DO_CHANGE_SPEED,
self.MAV_CMD_CONDITION_YAW,
self.MAV_CMD_DO_REPOSITION,
self.TerrainMission,
self.SetGlobalOrigin,
self.backup_home,