From bce3c551e71f0fe5f2210f05aeddedc821ca725a Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 25 Nov 2020 10:28:36 +0900
Subject: [PATCH] Tools: sub set-position-target-global-int sends target once

---
 Tools/autotest/ardusub.py | 39 ++++++++++++++++++++-------------------
 1 file changed, 20 insertions(+), 19 deletions(-)

diff --git a/Tools/autotest/ardusub.py b/Tools/autotest/ardusub.py
index 6c0d5cba71..1d5252907c 100644
--- a/Tools/autotest/ardusub.py
+++ b/Tools/autotest/ardusub.py
@@ -290,29 +290,30 @@ class AutoTestSub(AutoTest):
         lon = 5
         alt = -10
 
+        # send a position-control command
+        self.mav.mav.set_position_target_global_int_send(
+            0, # timestamp
+            1, # target system_id
+            1, # target component id
+            mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
+            0b1111111111111000, # mask specifying use-only-lat-lon-alt
+            lat, # lat
+            lon, # lon
+            alt, # alt
+            0, # vx
+            0, # vy
+            0, # vz
+            0, # afx
+            0, # afy
+            0, # afz
+            0, # yaw
+            0, # yawrate
+        )
+
         tstart = self.get_sim_time()
         while True:
             if self.get_sim_time_cached() - tstart > 200:
                 raise NotAchievedException("Did not move far enough")
-            # send a position-control command
-            self.mav.mav.set_position_target_global_int_send(
-                0, # timestamp
-                1, # target system_id
-                1, # target component id
-                mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
-                0b1111111111111000, # mask specifying use-only-lat-lon-alt
-                lat, # lat
-                lon, # lon
-                alt, # alt
-                0, # vx
-                0, # vy
-                0, # vz
-                0, # afx
-                0, # afy
-                0, # afz
-                0, # yaw
-                0, # yawrate
-            )
             pos = self.mav.recv_match(type='GLOBAL_POSITION_INT',
                                       blocking=True)
             delta = self.get_distance_int(startpos, pos)