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Tools: autotest: add option to use cached home for distance_to_home

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Peter Barker 2019-03-08 09:28:03 +11:00 committed by Peter Barker
parent 785c91e269
commit a504f9ac8d
2 changed files with 9 additions and 6 deletions
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9
Tools/autotest/arducopter.py
View File

@ -392,7 +392,7 @@ class AutoTestCopter(AutoTest):
while self.get_sim_time() < tstart + timeout:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
alt = m.relative_alt / 1000.0 # mm -> m
home_distance = self.distance_to_home()
home_distance = self.distance_to_home(use_cached_home=True)
home = ""
if alt <= 1 and home_distance < 10:
home = "HOME"
@ -690,7 +690,7 @@ class AutoTestCopter(AutoTest):
while self.get_sim_time() < tstart + timeout:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
alt = m.relative_alt / 1000.0 # mm -> m
home_distance = self.distance_to_home()
home_distance = self.distance_to_home(use_cached_home=True)
self.progress("Alt: %.02f HomeDistance: %.02f" %
(alt, home_distance))
# recenter pitch sticks once we're home so we don't fly off again
@ -721,6 +721,7 @@ class AutoTestCopter(AutoTest):
self.set_parameter("AVOID_ENABLE", 1)
# give we're testing RTL, doing one here probably doesn't make sense
home_distance = self.distance_to_home(use_cached_home=True)
raise AutoTestTimeoutException(
("Fence test failed to reach home - "
"timed out after %u seconds" % timeout))
@ -963,14 +964,14 @@ class AutoTestCopter(AutoTest):
# wait for arrival back home
self.mav.recv_match(type='VFR_HUD', blocking=True)
while self.distance_to_home() > 5:
while self.distance_to_home(use_cached_home=True) > 5:
if self.get_sim_time() > (tstart + timeout):
raise AutoTestTimeoutException(
("GPS Glitch testing failed"
"- exceeded timeout %u seconds" % timeout))
self.mav.recv_match(type='VFR_HUD', blocking=True)
self.progress("Dist from home: %.02f" % self.distance_to_home())
self.progress("Dist from home: %.02f" % self.distance_to_home(use_cached_home=True))
# turn off simulator display of gps and actual position
if self.use_map:

6
Tools/autotest/common.py
View File

@ -1750,8 +1750,10 @@ class AutoTest(ABC):
break
return m
def distance_to_home(self):
m = self.poll_home_position()
def distance_to_home(self, use_cached_home=False):
m = self.mav.messages.get("HOME_POSITION", None)
if use_cached_home is False or m is None:
m = self.poll_home_position()
loc = mavutil.location(m.latitude * 1.0e-7,
m.longitude * 1.0e-7,
m.altitude * 1.0e-3,