From dc75f382b8bb8bde9c73c47800e415fba557d036 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 25 Jun 2019 19:23:22 +1000 Subject: [PATCH] Tools: autotest: loosen check for wait_circling_point_with_radius Also add a timeout --- Tools/autotest/arduplane.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py index 7cc84f5f45..c53bac685b 100644 --- a/Tools/autotest/arduplane.py +++ b/Tools/autotest/arduplane.py @@ -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