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Tools: autotest: add test for setting home to current location

This commit is contained in:
Peter Barker 2019-03-19 17:12:05 +11:00 committed by Peter Barker
parent 236056ffbd
commit 935840ebb0
1 changed files with 46 additions and 0 deletions
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46
Tools/autotest/common.py
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@ -1990,6 +1990,52 @@ class AutoTest(ABC):
home.altitude != got_home_altitude): # float-conversion issues
self.reboot_sitl()
raise NotAchievedException("home is drifting")
self.progress("Waiting for EKF to start")
self.wait_ready_to_arm()
self.progress("now use lat=0, lon=0 to reset home to current location")
self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_HOME,
0, # p1,
0, # p2,
0, # p3,
0, # p4,
0, # lat
0, # lon
new_z/1000.0, # mm => m
)
home = self.poll_home_position()
self.progress("home: %s" % str(home))
if self.distance_to_home() > 1:
raise NotAchievedException("Setting home to current location did not work")
self.progress("Setting home elsewhere again")
self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_HOME,
0, # p1,
0, # p2,
0, # p3,
0, # p4,
new_x,
new_y,
new_z/1000.0, # mm => m
)
if self.distance_to_home() < 10:
raise NotAchievedException("Setting home to location did not work")
self.progress("use param1=1 to reset home to current location")
self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_HOME,
1, # p1,
0, # p2,
0, # p3,
0, # p4,
37.0, # lat
21.0, # lon
new_z/1000.0, # mm => m
)
home = self.poll_home_position()
self.progress("home: %s" % str(home))
if self.distance_to_home() > 1:
raise NotAchievedException("Setting home to current location did not work")
self.reboot_sitl()
def test_dataflash_over_mavlink(self):