mirror of https://github.com/ArduPilot/ardupilot
Tools: autotest: copter: rangefinder mavlink enable landing gear
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@ -6986,7 +6986,13 @@ class AutoTestCopter(AutoTest):
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def fly_rangefinder_mavlink_distance_sensor(self):
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def fly_rangefinder_mavlink_distance_sensor(self):
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self.start_subtest("Test mavlink rangefinder using DISTANCE_SENSOR messages")
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self.start_subtest("Test mavlink rangefinder using DISTANCE_SENSOR messages")
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self.context_push()
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self.context_push()
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self.set_parameter('RTL_ALT_TYPE', 0)
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self.set_parameters({
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"RTL_ALT_TYPE": 0,
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"LGR_ENABLE": 1,
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"LGR_DEPLOY_ALT": 1,
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"LGR_RETRACT_ALT": 10, # metres
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"SERVO10_FUNCTION": 29
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})
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ex = None
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ex = None
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try:
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try:
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self.set_parameter("SERIAL5_PROTOCOL", 1)
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self.set_parameter("SERIAL5_PROTOCOL", 1)
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@ -7039,11 +7045,6 @@ class AutoTestCopter(AutoTest):
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255 # covariance
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255 # covariance
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)
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)
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self.arm_vehicle()
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self.arm_vehicle()
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self.set_parameters({
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"SERVO10_FUNCTION": 29,
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"LGR_DEPLOY_ALT": 1,
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"LGR_RETRACT_ALT": 10, # metres
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})
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self.delay_sim_time(1) # servo function maps only periodically updated
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self.delay_sim_time(1) # servo function maps only periodically updated
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# self.send_debug_trap()
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# self.send_debug_trap()
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