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Tools: move run_cmd to common

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This commit is contained in:
Pierre Kancir 2018-07-31 11:59:15 +02:00 committed by Peter Barker
parent 6090820bdc
commit facc254138
2 changed files with 29 additions and 29 deletions
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29
Tools/autotest/arducopter.py
View File

@ -152,35 +152,6 @@ class AutoTestCopter(AutoTest):
if self.copy_tlog:
shutil.copy(self.logfile, self.buildlog)
def run_cmd(self,
command,
p1,
p2,
p3,
p4,
p5,
p6,
p7,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
self.mav.mav.command_long_send(1,
1,
command,
1, # confirmation
p1,
p2,
p3,
p4,
p5,
p6,
p7)
while True:
m = self.mav.recv_match(type='COMMAND_ACK', blocking=True)
print("m: %s" % str(m))
if m.command == command:
if m.result != mavutil.mavlink.MAV_RESULT_ACCEPTED:
raise ValueError()
break
def user_takeoff(self, alt_min=30):
'''takeoff using mavlink takeoff command'''
self.run_cmd(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,

29
Tools/autotest/common.py
View File

@ -424,6 +424,35 @@ class AutoTest(ABC):
old_value,
add_to_context=False)
def run_cmd(self,
command,
p1,
p2,
p3,
p4,
p5,
p6,
p7,
want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED):
self.mav.mav.command_long_send(1,
1,
command,
1, # confirmation
p1,
p2,
p3,
p4,
p5,
p6,
p7)
while True:
m = self.mav.recv_match(type='COMMAND_ACK', blocking=True)
print("m: %s" % str(m))
if m.command == command:
if m.result != mavutil.mavlink.MAV_RESULT_ACCEPTED:
raise ValueError()
break
#################################################
# UTILITIES
#################################################