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autotest: add more tests for mount behaviour

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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
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33
Tools/autotest/arducopter.py
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@ -3317,6 +3317,7 @@ class AutoTestCopter(AutoTest):
raise raise
self.progress("Testing mount ROI behaviour") self.progress("Testing mount ROI behaviour")
self.drain_mav_unparsed()
self.test_mount_pitch(0, 0.1) self.test_mount_pitch(0, 0.1)
start = self.mav.location() start = self.mav.location()
self.progress("start=%s" % str(start)) self.progress("start=%s" % str(start))
@ -3355,6 +3356,38 @@ class AutoTestCopter(AutoTest):
) )
self.test_mount_pitch(-7.5, 1) 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") self.progress("checking ArduCopter yaw-aircraft-for-roi")
try: try:
self.context_push() self.context_push()