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autotest: tidy payload place test

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Peter Barker 2022-07-28 12:40:39 +10:00 committed by Peter Barker
parent 7683b36e3b
commit f67877655b
1 changed files with 5 additions and 12 deletions
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17
Tools/autotest/arducopter.py
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@ -4334,7 +4334,7 @@ class AutoTestCopter(AutoTest):
0.01 # size of target in radians, Y-axis 0.01 # size of target in radians, Y-axis
) )
def fly_payload_place_mission(self): def PayLoadPlaceMission(self):
"""Test payload placing in auto.""" """Test payload placing in auto."""
self.context_push() self.context_push()
@ -4347,24 +4347,17 @@ class AutoTestCopter(AutoTest):
"SIM_GRPS_ENABLE": 1, "SIM_GRPS_ENABLE": 1,
"SIM_GRPS_PIN": 8, "SIM_GRPS_PIN": 8,
"SERVO8_FUNCTION": 28, "SERVO8_FUNCTION": 28,
"RC9_OPTION": 19,
}) })
self.reboot_sitl() self.reboot_sitl()
self.set_rc(9, 2000)
# load the mission:
self.load_mission("copter_payload_place.txt") self.load_mission("copter_payload_place.txt")
self.progress("Waiting for location") self.set_parameter("AUTO_OPTIONS", 3)
self.mav.location() self.change_mode('AUTO')
self.zero_throttle()
self.change_mode('STABILIZE')
self.wait_ready_to_arm() self.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
self.change_mode('AUTO')
self.set_rc(3, 1500)
self.wait_text("Gripper load releas", timeout=90) self.wait_text("Gripper load releas", timeout=90)
self.wait_disarmed() self.wait_disarmed()
@ -8763,7 +8756,7 @@ class AutoTestCopter(AutoTest):
("PayLoadPlaceMission", ("PayLoadPlaceMission",
"Payload Place Mission", "Payload Place Mission",
self.fly_payload_place_mission), # 44s self.PayLoadPlaceMission), # 44s
("PrecisionLoiterCompanion", ("PrecisionLoiterCompanion",
"Precision Loiter (Companion)", "Precision Loiter (Companion)",