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Tools: autotest: loosen check for wait_circling_point_with_radius

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Also add a timeout
This commit is contained in:
Peter Barker 2019-06-25 19:23:22 +10:00 committed by Peter Barker
parent 98f30fe099
commit dc75f382b8
1 changed files with 4 additions and 1 deletions
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5
Tools/autotest/arduplane.py
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@ -887,13 +887,16 @@ class AutoTestPlane(AutoTest):
def do_fence_disable(self, want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
self.do_fence_en_or_dis_able(False, want_result=want_result)
def wait_circling_point_with_radius(self, loc, want_radius, epsilon=2.0, min_circle_time=5):
def wait_circling_point_with_radius(self, loc, want_radius, epsilon=5.0, min_circle_time=5, timeout=120):
on_radius_start_heading = None
average_radius = 0.0
circle_time_start = 0
done_time = False
done_angle = False
tstart = self.get_sim_time()
while True:
if self.get_sim_time() - tstart > timeout:
raise AutoTestTimeoutException("Did not get onto circle")
here = self.mav.location()
got_radius = self.get_distance(loc, here)
average_radius = 0.95*average_radius + 0.05*got_radius