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autotest: break out a get_altitude method

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Peter Barker 2021-02-09 13:24:24 +11:00 committed by Peter Barker
parent e2aaf4c216
commit bd8384b322
1 changed files with 23 additions and 10 deletions
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33
Tools/autotest/common.py
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@ -4348,26 +4348,39 @@ class AutoTest(ABC):
while tstart + seconds_to_wait > tnow: while tstart + seconds_to_wait > tnow:
tnow = self.get_sim_time() tnow = self.get_sim_time()
def get_altitude(self, relative=False, timeout=30):
'''returns vehicles altitude in metres, possibly relative-to-home'''
msg = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True,
timeout=timeout)
if msg is None:
raise MsgRcvTimeoutException("Failed to get Global Position")
if relative:
return msg.relative_alt / 1000.0 # mm -> m
return msg.alt / 1000.0 # mm -> m
def wait_altitude(self, altitude_min, altitude_max, relative=False, timeout=30, **kwargs): def wait_altitude(self, altitude_min, altitude_max, relative=False, timeout=30, **kwargs):
"""Wait for a given altitude range.""" """Wait for a given altitude range."""
assert altitude_min <= altitude_max, "Minimum altitude should be less than maximum altitude." assert altitude_min <= altitude_max, "Minimum altitude should be less than maximum altitude."
def get_altitude(alt_relative=False, timeout2=30):
msg = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=timeout2)
if msg:
if alt_relative:
return msg.relative_alt / 1000.0 # mm -> m
else:
return msg.alt / 1000.0 # mm -> m
raise MsgRcvTimeoutException("Failed to get Global Position")
def validator(value2, target2=None): def validator(value2, target2=None):
if altitude_min <= value2 <= altitude_max: if altitude_min <= value2 <= altitude_max:
return True return True
else: else:
return False return False
self.wait_and_maintain(value_name="Altitude", target=altitude_min, current_value_getter=lambda: get_altitude(relative, timeout), accuracy=(altitude_max - altitude_min), validator=lambda value2, target2: validator(value2, target2), timeout=timeout, **kwargs) self.wait_and_maintain(
value_name="Altitude",
target=altitude_min,
current_value_getter=lambda: self.get_altitude(
relative=relative,
timeout=timeout,
),
accuracy=(altitude_max - altitude_min),
validator=lambda value2, target2: validator(value2, target2),
timeout=timeout,
**kwargs,
)
def wait_groundspeed(self, speed_min, speed_max, timeout=30, **kwargs): def wait_groundspeed(self, speed_min, speed_max, timeout=30, **kwargs):
"""Wait for a given ground speed range.""" """Wait for a given ground speed range."""