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autotest: sim_vehicle.py: add --auto-offset-line

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Simplifies spawning multiple instances.
This commit is contained in:
Peter Barker 2021-11-03 11:18:01 +11:00 committed by Tom Pittenger
parent e7b30a0085
commit 8de7261c67
1 changed files with 16 additions and 0 deletions
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16
Tools/autotest/sim_vehicle.py
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@ -1109,6 +1109,11 @@ group_sim.add_option("-Z", "--swarm",
type='string',
default=None,
help="Specify path of swarminit.txt for shifting spawn location")
group_sim.add_option("", "--auto-offset-line",
type="string",
default=None,
help="Argument of form BEARING,DISTANCE. When running multiple instances, form a line along bearing with an interval of DISTANCE", # NOQA
)
group_sim.add_option("--flash-storage",
action='store_true',
help="use flash storage emulation")
@ -1324,6 +1329,17 @@ else:
location = None
if cmd_opts.swarm is not None:
offsets = find_offsets(instances, cmd_opts.swarm)
elif cmd_opts.auto_offset_line is not None:
if location is None:
raise ValueError("location needed for auto-offset-line")
(bearing, metres) = cmd_opts.auto_offset_line.split(",")
bearing = float(bearing)
metres = float(metres)
dist = 0
offsets = {}
for x in instances:
offsets[x] = [dist*math.sin(math.radians(bearing)), dist*math.cos(math.radians(bearing)), 0, 0]
dist += metres
else:
offsets = {x: [0.0, 0.0, 0.0, None] for x in instances}
if location is not None: