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autotest: updated fakepos.py for new packet format

This commit is contained in:
Andrew Tridgell 2011-12-02 23:43:03 +11:00
parent f96a48e42b
commit e12fabebe9
1 changed files with 3 additions and 3 deletions
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6
Tools/autotest/fakepos.py
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@ -61,7 +61,7 @@ rollDeg = 0.0
pitchDeg = 0.0 pitchDeg = 0.0
yawDeg = 0.0 yawDeg = 0.0
airspeed = 0 airspeed = 0
magic = 0x4c56414d magic = 0x4c56414e
deltaT = 0.005 deltaT = 0.005
rollDeg = 45 rollDeg = 45
@ -80,12 +80,12 @@ while True:
xAccel = sin(radians(pitchDeg)) * cos(radians(rollDeg)) xAccel = sin(radians(pitchDeg)) * cos(radians(rollDeg))
yAccel = -sin(radians(rollDeg)) * cos(radians(pitchDeg)) yAccel = -sin(radians(rollDeg)) * cos(radians(pitchDeg))
zAccel = -cos(radians(rollDeg)) * cos(radians(pitchDeg)) zAccel = -cos(radians(rollDeg)) * cos(radians(pitchDeg))
scale = m2ft(9.81 / sqrt((xAccel*xAccel)+(yAccel*yAccel)+(zAccel*zAccel))) scale = 9.81 / sqrt((xAccel*xAccel)+(yAccel*yAccel)+(zAccel*zAccel))
xAccel *= scale; xAccel *= scale;
yAccel *= scale; yAccel *= scale;
zAccel *= scale; zAccel *= scale;
buf = struct.pack('>ddddddddddddddddI', buf = struct.pack('<16dI',
latitude, longitude, altitude, heading, latitude, longitude, altitude, heading,
speedN, speedE, speedN, speedE,
xAccel, yAccel, zAccel, xAccel, yAccel, zAccel,