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SITL: ease gps_glitch_auto_test 

shortened glitch duration
extended timeout in gps_glitch_auto_test
This commit is contained in:
Randy Mackay 2016-04-21 14:25:18 +09:00
parent bd24dd79a8
commit a5de231a21
1 changed files with 2 additions and 3 deletions
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5
Tools/autotest/arducopter.py
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@ -546,7 +546,7 @@ def fly_gps_glitch_loiter_test(mavproxy, mav, timeout=30, max_distance=20):
return success return success
# fly_gps_glitch_auto_test - fly mission and test reaction to gps glitch # fly_gps_glitch_auto_test - fly mission and test reaction to gps glitch
def fly_gps_glitch_auto_test(mavproxy, mav, timeout=30, max_distance=100): def fly_gps_glitch_auto_test(mavproxy, mav, timeout=120):
# set-up gps glitch array # set-up gps glitch array
glitch_lat = [0.0002996,0.0006958,0.0009431,0.0009991,0.0009444,0.0007716,0.0006221] glitch_lat = [0.0002996,0.0006958,0.0009431,0.0009991,0.0009444,0.0007716,0.0006221]
@ -584,7 +584,6 @@ def fly_gps_glitch_auto_test(mavproxy, mav, timeout=30, max_distance=100):
# record time and position # record time and position
tstart = get_sim_time(mav) tstart = get_sim_time(mav)
tnow = tstart tnow = tstart
start_pos = sim_location(mav)
# initialise current glitch # initialise current glitch
glitch_current = 0; glitch_current = 0;
@ -595,7 +594,7 @@ def fly_gps_glitch_auto_test(mavproxy, mav, timeout=30, max_distance=100):
# record position for 30 seconds # record position for 30 seconds
while glitch_current < glitch_num: while glitch_current < glitch_num:
tnow = get_sim_time(mav) tnow = get_sim_time(mav)
desired_glitch_num = int((tnow - tstart) * 2) desired_glitch_num = int((tnow - tstart) * 2.2)
if desired_glitch_num > glitch_current and glitch_current != -1: if desired_glitch_num > glitch_current and glitch_current != -1:
glitch_current = desired_glitch_num glitch_current = desired_glitch_num
# apply next glitch # apply next glitch