Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

autotest: a complete mission now flies

Browse Source 
with the TCP buffering fixed, the mission flies quite well with standard parameters
This commit is contained in:
Andrew Tridgell 2011-11-02 09:21:21 +11:00
parent e7671178b3
commit b6dcfa416b
2 changed files with 3 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
Tools/autotest/ArduCopter.parm
View File

@ -29,12 +29,3 @@ FLTMODE3 2
FLTMODE4 6 FLTMODE4 6
FLTMODE5 5 FLTMODE5 5
FLTMODE6 0 FLTMODE6 0
NAV_LAT_I 0
NAV_LON_I 0
NAV_LAT_P 1
NAV_LON_P 1
STB_PIT_P 2
STB_RLL_P 2
XTRACK_P 1
RATE_PIT_P 0.1
RATE_RLL_P 0.1

5
Tools/autotest/arducopter.py
View File

@ -229,7 +229,7 @@ def land(mavproxy, mav, timeout=60):
return False return False
def fly_mission(mavproxy, mav, filename, timeout=120): def fly_mission(mavproxy, mav, filename):
'''fly a mission from a file''' '''fly a mission from a file'''
startloc = current_location(mav) startloc = current_location(mav)
mavproxy.send('wp load %s\n' % filename) mavproxy.send('wp load %s\n' % filename)
@ -239,7 +239,7 @@ def fly_mission(mavproxy, mav, filename, timeout=120):
mavproxy.send('switch 1\n') # auto mode mavproxy.send('switch 1\n') # auto mode
mavproxy.expect('AUTO>') mavproxy.expect('AUTO>')
wait_distance(mav, 30, timeout=120) wait_distance(mav, 30, timeout=120)
wait_location(mav, startloc, timeout=300) wait_location(mav, startloc, timeout=600)
def setup_rc(mavproxy): def setup_rc(mavproxy):
@ -306,6 +306,7 @@ def fly_ArduCopter():
loiter(mavproxy, mav) loiter(mavproxy, mav)
land(mavproxy, mav) land(mavproxy, mav)
fly_mission(mavproxy, mav, os.path.join(testdir, "mission1.txt")) fly_mission(mavproxy, mav, os.path.join(testdir, "mission1.txt"))
land(mavproxy, mav)
disarm_motors(mavproxy) disarm_motors(mavproxy)
except pexpect.TIMEOUT, e: except pexpect.TIMEOUT, e:
failed = True failed = True