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autotest: move upload_simple_relhome_mission up

This commit is contained in:
Peter Barker 2021-07-28 15:09:40 +10:00 committed by Peter Barker
parent d73ce0ed57
commit ca35d01baa
2 changed files with 49 additions and 49 deletions
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49
Tools/autotest/arducopter.py
View File

@ -6787,55 +6787,6 @@ class AutoTestCopter(AutoTest):
self.do_RTL()
def create_simple_relhome_mission(self, items_in, target_system=1, target_component=1):
'''takes a list of (type, n, e, alt) items. Creates a mission in
absolute frame using alt as relative-to-home and n and e as
offsets in metres from home'''
# add a dummy waypoint for home
items = [(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0)]
items.extend(items_in)
seq = 0
ret = []
for (t, n, e, alt) in items:
lat = 0
lng = 0
if n != 0 or e != 0:
loc = self.home_relative_loc_ne(n, e)
lat = loc.lat
lng = loc.lng
p1 = 0
frame = mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT
if not self.ardupilot_stores_frame_for_cmd(t):
frame = mavutil.mavlink.MAV_FRAME_GLOBAL
ret.append(self.mav.mav.mission_item_int_encode(
target_system,
target_component,
seq, # seq
frame,
t,
0, # current
0, # autocontinue
p1, # p1
0, # p2
0, # p3
0, # p4
int(lat*1e7), # latitude
int(lng*1e7), # longitude
alt, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_MISSION),
)
seq += 1
return ret
def upload_simple_relhome_mission(self, items, target_system=1, target_component=1):
mission = self.create_simple_relhome_mission(
items,
target_system=target_system,
target_component=target_component)
self.check_mission_upload_download(mission)
def test_replay(self):
'''test replay correctness'''
self.progress("Building Replay")

49
Tools/autotest/common.py
View File

@ -2736,6 +2736,55 @@ class AutoTest(ABC):
self.set_rc(ch, 1000)
self.delay_sim_time(1)
def create_simple_relhome_mission(self, items_in, target_system=1, target_component=1):
'''takes a list of (type, n, e, alt) items. Creates a mission in
absolute frame using alt as relative-to-home and n and e as
offsets in metres from home'''
# add a dummy waypoint for home
items = [(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 0)]
items.extend(items_in)
seq = 0
ret = []
for (t, n, e, alt) in items:
lat = 0
lng = 0
if n != 0 or e != 0:
loc = self.home_relative_loc_ne(n, e)
lat = loc.lat
lng = loc.lng
p1 = 0
frame = mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT
if not self.ardupilot_stores_frame_for_cmd(t):
frame = mavutil.mavlink.MAV_FRAME_GLOBAL
ret.append(self.mav.mav.mission_item_int_encode(
target_system,
target_component,
seq, # seq
frame,
t,
0, # current
0, # autocontinue
p1, # p1
0, # p2
0, # p3
0, # p4
int(lat*1e7), # latitude
int(lng*1e7), # longitude
alt, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_MISSION),
)
seq += 1
return ret
def upload_simple_relhome_mission(self, items, target_system=1, target_component=1):
mission = self.create_simple_relhome_mission(
items,
target_system=target_system,
target_component=target_component)
self.check_mission_upload_download(mission)
def get_mission_count(self):
return self.get_parameter("MIS_TOTAL")