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autotest: calibrate accelerometers at startup

This commit is contained in:
Andrew Tridgell 2011-12-12 22:07:53 +11:00
parent 420bb9cc75
commit ef8ed6aab2
1 changed files with 12 additions and 0 deletions
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12
Tools/autotest/arducopter.py
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@ -13,6 +13,14 @@ HOME=location(-35.362938,149.165085,584,270)
homeloc = None
num_wp = 0
def calibrate_level(mavproxy, mav):
'''init the accelerometers'''
print("Initialising accelerometers")
MAV_ACTION_CALIBRATE_ACC = 19
mav.mav.action_send(mav.target_system, mav.target_component, MAV_ACTION_CALIBRATE_ACC)
mavproxy.expect('APM: action received')
return True
def arm_motors(mavproxy, mav):
'''arm motors'''
print("Arming motors")
@ -298,6 +306,10 @@ def fly_ArduCopter(viewerip=None):
mav.recv_match(type='GPS_RAW', blocking=True)
setup_rc(mavproxy)
homeloc = current_location(mav)
if not calibrate_level(mavproxy, mav):
failed = True
if not arm_motors(mavproxy, mav):
failed = True