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autotest: ensure camera feedback messages at correct altitude

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Peter Barker 2021-09-29 19:31:43 +10:00 committed by Peter Barker
parent 040a5dffb9
commit a55bd3955a
1 changed files with 16 additions and 0 deletions
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16
Tools/autotest/arduplane.py
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@ -873,6 +873,22 @@ class AutoTestPlane(AutoTest):
if x is None:
raise NotAchievedException("No CAMERA_FEEDBACK message received")
self.wait_ready_to_arm()
original_alt = self.get_altitude()
takeoff_alt = 30
self.takeoff(takeoff_alt)
self.set_rc(12, 2000)
self.delay_sim_time(1)
self.set_rc(12, 1000)
x = self.mav.messages.get("CAMERA_FEEDBACK", None)
if abs(x.alt_rel - takeoff_alt) > 10:
raise NotAchievedException("Bad relalt (want=%f vs got=%f)" % (takeoff_alt, x.alt_rel))
if abs(x.alt_msl - (original_alt+30)) > 10:
raise NotAchievedException("Bad absalt (want=%f vs got=%f)" % (original_alt+30, x.alt_msl))
self.fly_home_land_and_disarm()
def test_throttle_failsafe(self):
self.change_mode('MANUAL')
m = self.mav.recv_match(type='SYS_STATUS', blocking=True)