From c58e9e913558e22467eb27a9954b3f949259abe5 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Mon, 12 Dec 2011 17:47:29 -0800 Subject: [PATCH] more control over loiter time and alt change --- Tools/autotest/arducopter.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 1cfd592ae9..83cc2975bb 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -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