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autotest: updates for new GIMBAL_REPORT format

This commit is contained in:
Andrew Tridgell 2015-01-30 17:39:57 +11:00
parent da27a8696d
commit 9bdefd0bba
1 changed files with 4 additions and 3 deletions
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7
Tools/autotest/pysim/gimbal.py
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@ -75,13 +75,13 @@ class Gimbal3Axis(object):
###################################
# communication variables
self.connection = None
self.counter = 0
self.last_report_t = time.time()
self.last_heartbeat_t = time.time()
self.seen_heartbeat = False
self.seen_gimbal_control = False
self.last_print_t = time.time()
self.vehicle_component_id = None
self.last_report_t = time.time()
def update(self):
'''update the gimbal state'''
@ -254,9 +254,11 @@ class Gimbal3Axis(object):
self.last_heartbeat_t = now
if self.seen_heartbeat:
delta_time = now - self.last_report_t
self.last_report_t = now
self.connection.mav.gimbal_report_send(self.connection.mav.srcSystem,
self.vehicle_component_id,
self.counter,
delta_time,
self.delta_angle.x,
self.delta_angle.y,
self.delta_angle.z,
@ -268,4 +270,3 @@ class Gimbal3Axis(object):
self.joint_angles.z)
self.delta_velocity.zero()
self.delta_angle.zero()
self.counter += 1