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AP TEST fixes for new throttle control

This commit is contained in:
Jason Short 2012-02-19 12:38:57 -08:00
parent b4ee111c49
commit 9169fe2bfe
1 changed files with 13 additions and 9 deletions
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22
Tools/autotest/arducopter.py
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@ -14,6 +14,10 @@ HOME=location(-35.362938,149.165085,584,270)
homeloc = None homeloc = None
num_wp = 0 num_wp = 0
def hover(mavproxy, mav):
mavproxy.send('rc 3 1385\n')
return True
def calibrate_level(mavproxy, mav): def calibrate_level(mavproxy, mav):
'''init the accelerometers''' '''init the accelerometers'''
print("Initialising accelerometers") print("Initialising accelerometers")
@ -54,7 +58,7 @@ def takeoff(mavproxy, mav, alt_min = 30):
m = mav.recv_match(type='VFR_HUD', blocking=True) m = mav.recv_match(type='VFR_HUD', blocking=True)
if (m.alt < alt_min): if (m.alt < alt_min):
wait_altitude(mav, alt_min, (alt_min + 5)) wait_altitude(mav, alt_min, (alt_min + 5))
mavproxy.send('rc 3 1430\n') hover(mavproxy, mav)
print("TAKEOFF COMPLETE") print("TAKEOFF COMPLETE")
return True return True
@ -86,13 +90,13 @@ def change_alt(mavproxy, mav, alt_min):
m = mav.recv_match(type='VFR_HUD', blocking=True) m = mav.recv_match(type='VFR_HUD', blocking=True)
if(m.alt < alt_min): if(m.alt < alt_min):
print("Rise to alt:%u from %u" % (alt_min, m.alt)) print("Rise to alt:%u from %u" % (alt_min, m.alt))
mavproxy.send('rc 3 1800\n') mavproxy.send('rc 3 1920\n')
wait_altitude(mav, alt_min, (alt_min + 5)) wait_altitude(mav, alt_min, (alt_min + 5))
else: else:
print("Lower to alt:%u from %u" % (alt_min, m.alt)) print("Lower to alt:%u from %u" % (alt_min, m.alt))
mavproxy.send('rc 3 1070\n') mavproxy.send('rc 3 1120\n')
wait_altitude(mav, (alt_min -5), alt_min) wait_altitude(mav, (alt_min -5), alt_min)
mavproxy.send('rc 3 1430\n') hover(mavproxy, mav)
return True return True
@ -107,7 +111,7 @@ def fly_square(mavproxy, mav, side=50, timeout=120):
save_wp(mavproxy, mav) save_wp(mavproxy, mav)
print("turn") print("turn")
mavproxy.send('rc 3 1430\n') hover(mavproxy, mav)
mavproxy.send('rc 4 1610\n') mavproxy.send('rc 4 1610\n')
if not wait_heading(mav, 0): if not wait_heading(mav, 0):
return False return False
@ -156,7 +160,7 @@ def fly_RTL(mavproxy, mav, side=60):
'''Fly, return, land''' '''Fly, return, land'''
mavproxy.send('switch 6\n') mavproxy.send('switch 6\n')
wait_mode(mav, 'STABILIZE') wait_mode(mav, 'STABILIZE')
mavproxy.send('rc 3 1430\n') hover(mavproxy, mav)
failed = False failed = False
print("# Going forward %u meters" % side) print("# Going forward %u meters" % side)
@ -181,7 +185,7 @@ def fly_failsafe(mavproxy, mav, side=60):
'''Fly, Failsafe, return, land''' '''Fly, Failsafe, return, land'''
mavproxy.send('switch 6\n') mavproxy.send('switch 6\n')
wait_mode(mav, 'STABILIZE') wait_mode(mav, 'STABILIZE')
mavproxy.send('rc 3 1430\n') hover(mavproxy, mav)
failed = False failed = False
print("# Going forward %u meters" % side) print("# Going forward %u meters" % side)
@ -210,7 +214,7 @@ def fly_simple(mavproxy, mav, side=60, timeout=120):
'''fly Simple, flying N then E''' '''fly Simple, flying N then E'''
mavproxy.send('switch 6\n') mavproxy.send('switch 6\n')
wait_mode(mav, 'STABILIZE') wait_mode(mav, 'STABILIZE')
mavproxy.send('rc 3 1440\n') hover(mavproxy, mav)
tstart = time.time() tstart = time.time()
failed = False failed = False
@ -236,7 +240,7 @@ def fly_simple(mavproxy, mav, side=60, timeout=120):
mavproxy.send('rc 2 1500\n') mavproxy.send('rc 2 1500\n')
#restore to default #restore to default
mavproxy.send('param set SIMPLE 0\n') mavproxy.send('param set SIMPLE 0\n')
mavproxy.send('rc 3 1430\n') hover(mavproxy, mav)
return not failed return not failed