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more control over loiter time and alt change

This commit is contained in:
Jason Short 2011-12-12 17:47:29 -08:00
parent edc3a731d4
commit c58e9e9135
1 changed files with 5 additions and 5 deletions
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10
Tools/autotest/arducopter.py
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@ -45,17 +45,17 @@ def disarm_motors(mavproxy, mav):
return True
def takeoff(mavproxy, mav):
def takeoff(mavproxy, mav, alt_min = 30, alt_max = 40):
'''takeoff get to 30m altitude'''
mavproxy.send('switch 6\n') # stabilize mode
wait_mode(mav, 'STABILIZE')
mavproxy.send('rc 3 1500\n')
wait_altitude(mav, 30, 40)
wait_altitude(mav, alt_min, alt_max)
print("TAKEOFF COMPLETE")
return True
def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
def loiter(mavproxy, mav, holdtime=120, maxaltchange=10, timeout=60):
'''hold loiter position'''
mavproxy.send('switch 5\n') # loiter mode
wait_mode(mav, 'LOITER')
@ -316,7 +316,7 @@ def fly_ArduCopter(viewerip=None):
print("arm_motors failed")
failed = True
if not takeoff(mavproxy, mav):
if not takeoff(mavproxy, mav, 10, 15):
print("takeoff failed")
failed = True
@ -333,7 +333,7 @@ def fly_ArduCopter(viewerip=None):
# Loiter for 10 seconds
print("# Loiter for 10 seconds")
if not loiter(mavproxy, mav):
if not loiter(mavproxy, mav, 120):
print("loiter failed")
failed = True