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autotest: fixed failsafe test for arducopter

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Andrew Tridgell 2012-11-28 11:10:18 +11:00
parent 649ef905f0
commit b430d146f2
1 changed files with 8 additions and 0 deletions
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8
Tools/autotest/arducopter.py
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@ -202,10 +202,18 @@ def fly_failsafe(mavproxy, mav, side=60, timeout=180):
home_distance = get_distance(HOME, pos)
print("Alt: %u HomeDistance: %.0f" % (m.alt, home_distance))
if m.alt <= 1 and home_distance < 10:
# switch modes to reset out of LAND
mavproxy.send('switch 2\n')
time.sleep(1)
mavproxy.send('switch 6\n')
print("Reached failsafe home OK")
mavproxy.send('rc 3 1100\n')
return True
print("Failed to land on failsafe RTL - timed out after %u seconds" % timeout)
# switch modes to reset out of LAND
mavproxy.send('switch 2\n')
time.sleep(1)
mavproxy.send('switch 6\n')
return False