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Tools: autotest: account for Rover blowing past home in DriveRTL

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Peter Barker 2019-03-07 12:50:09 +11:00 committed by Peter Barker
parent f2e3d377ad
commit e78eec3292
1 changed files with 7 additions and 4 deletions
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11
Tools/autotest/apmrover2.py
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@ -482,14 +482,17 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
# the EKF doesn't pull us down to 0 speed:
self.wait_groundspeed(0, 0.5, timeout=600)
# current Rover blows straight past the home position and ends
# up ~6m past the home point.
home_distance = self.distance_to_home()
home_distance_max = 5
home_distance_min = 5.5
home_distance_max = 6.5
if home_distance > home_distance_max:
raise NotAchievedException(
"Did not get home (%f metres distant > %f)" %
(home_distance, home_distance_max))
"Did not stop near home (%f metres distant (%f > want > %f))" %
(home_distance, home_distance_min, home_distance_max))
self.disarm_vehicle()
self.progress("RTL Mission OK")
self.progress("RTL Mission OK (%fm)" % home_distance)
def wait_distance_home_gt(self, distance, timeout=60):