Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-02 05:58:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

autotest: add more tests for mount behaviour

Browse Source
This commit is contained in:
Peter Barker 2019-11-04 14:49:07 +11:00 committed by Peter Barker
parent 7139c1121f
commit f177679e61
1 changed files with 33 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

33
Tools/autotest/arducopter.py
View File

@ -3317,6 +3317,7 @@ class AutoTestCopter(AutoTest):
raise
self.progress("Testing mount ROI behaviour")
self.drain_mav_unparsed()
self.test_mount_pitch(0, 0.1)
start = self.mav.location()
self.progress("start=%s" % str(start))
@ -3355,6 +3356,38 @@ class AutoTestCopter(AutoTest):
)
self.test_mount_pitch(-7.5, 1)
start = self.mav.location()
(roi_lat, roi_lon) = mavextra.gps_offset(start.lat,
start.lng,
-100,
-200)
roi_alt = 0
self.progress("Using MAV_CMD_DO_SET_ROI (COMMAND_INT)")
self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_ROI,
0,
0,
0,
0,
roi_lat*1e7,
roi_lon*1e7,
roi_alt,
frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
)
self.test_mount_pitch(-7.5, 1)
self.progress("Using MAV_CMD_DO_SET_ROI (COMMAND_INT), absolute-alt-frame")
# this is pointing essentially straight down
self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_ROI,
0,
0,
0,
0,
roi_lat*1e7,
roi_lon*1e7,
roi_alt,
frame=mavutil.mavlink.MAV_FRAME_GLOBAL,
)
self.test_mount_pitch(-70, 1)
self.progress("checking ArduCopter yaw-aircraft-for-roi")
try:
self.context_push()