Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Fixed Loiter Timeout bug, added more wind by default.

This commit is contained in:
Jason Short 2011-12-28 22:46:43 -08:00
parent a9e1e9a8db
commit 986b42a45b
1 changed files with 5 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
Tools/autotest/arducopter.py
View File

@ -57,7 +57,7 @@ def takeoff(mavproxy, mav, alt_min = 30):
print("TAKEOFF COMPLETE") print("TAKEOFF COMPLETE")
return True return True
def loiter(mavproxy, mav, holdtime=20, maxaltchange=10, timeout=60): def loiter(mavproxy, mav, holdtime=60, maxaltchange=20):
'''hold loiter position''' '''hold loiter position'''
mavproxy.send('switch 5\n') # loiter mode mavproxy.send('switch 5\n') # loiter mode
wait_mode(mav, 'LOITER') wait_mode(mav, 'LOITER')
@ -67,7 +67,7 @@ def loiter(mavproxy, mav, holdtime=20, maxaltchange=10, timeout=60):
tstart = time.time() tstart = time.time()
tholdstart = time.time() tholdstart = time.time()
print("Holding loiter at %u meters for %u seconds" % (start_altitude, holdtime)) print("Holding loiter at %u meters for %u seconds" % (start_altitude, holdtime))
while time.time() < tstart + timeout: while time.time() < tstart + holdtime:
m = mav.recv_match(type='VFR_HUD', blocking=True) m = mav.recv_match(type='VFR_HUD', blocking=True)
pos = current_location(mav) pos = current_location(mav)
delta = get_distance(start, pos) delta = get_distance(start, pos)
@ -282,7 +282,7 @@ def fly_ArduCopter(viewerip=None):
simquad_cmd = util.reltopdir('Tools/autotest/pysim/sim_quad.py') + ' --rate=400 --home=%f,%f,%u,%u' % ( simquad_cmd = util.reltopdir('Tools/autotest/pysim/sim_quad.py') + ' --rate=400 --home=%f,%f,%u,%u' % (
HOME.lat, HOME.lng, HOME.alt, HOME.heading) HOME.lat, HOME.lng, HOME.alt, HOME.heading)
simquad_cmd += ' --wind=2,90,0.2' simquad_cmd += ' --wind=6,45,.3'
if viewerip: if viewerip:
simquad_cmd += ' --fgout=%s:5503' % viewerip simquad_cmd += ' --fgout=%s:5503' % viewerip
@ -358,9 +358,9 @@ def fly_ArduCopter(viewerip=None):
print("takeoff failed") print("takeoff failed")
failed = True failed = True
# Loiter for 10 seconds # Loiter for 30 seconds
print("# Loiter for 30 seconds") print("# Loiter for 30 seconds")
if not loiter(mavproxy, mav, 10): if not loiter(mavproxy, mav, 30):
print("loiter failed") print("loiter failed")
failed = True failed = True
@ -462,9 +462,3 @@ def fly_ArduCopter(viewerip=None):
return False return False
return True return True
#Fly a circle for 60 seconds
#print("# Fly a Circle")
#if not circle(mavproxy, mav):
# print("circle failed")
# failed = True