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Tools: autotest: stop using mav.location() for Tracker test

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Turns out that since we don't stream vfr_hud mav.location won't ever
work
This commit is contained in:
Peter Barker 2019-03-28 15:33:16 +11:00 committed by Peter Barker
parent cd0879cff0
commit ffccd6f263
1 changed files with 34 additions and 11 deletions
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45
Tools/autotest/common.py
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@ -1151,15 +1151,40 @@ class AutoTest(ABC):
return math.sqrt((dlat*dlat) + (dlong*dlong)) * 1.113195e5
@staticmethod
def get_latlon_attr(loc, attrs):
'''return any found latitude attribute from loc'''
latattrs = "lat", "latitude"
ret = None
for attr in attrs:
if hasattr(loc, attr):
ret = getattr(loc, attr)
break
if ret is None:
raise ValueError("None of %s in loc" % str(attrs))
return ret
@staticmethod
def get_lat_attr(loc):
'''return any found latitude attribute from loc'''
return AutoTest.get_latlon_attr(loc, ["lat", "latitude"])
@staticmethod
def get_lon_attr(loc):
'''return any found latitude attribute from loc'''
return AutoTest.get_latlon_attr(loc, ["lng", "lon", "longitude"])
@staticmethod
def get_distance_int(loc1, loc2):
"""Get ground distance between two locations in the normal "int" form
- lat/lon multiplied by 1e7"""
dlat = loc2.lat - loc1.lat
try:
dlong = loc2.lng - loc1.lng
except AttributeError:
dlong = loc2.lon - loc1.lon
loc1_lat = AutoTest.get_lat_attr(loc1)
loc2_lat = AutoTest.get_lat_attr(loc2)
loc1_lon = AutoTest.get_lon_attr(loc1)
loc2_lon = AutoTest.get_lon_attr(loc2)
dlat = loc2_lat - loc1_lat
dlong = loc2_lon - loc1_lon
dlat /= 10000000.0
dlong /= 10000000.0
@ -1911,11 +1936,9 @@ class AutoTest(ABC):
m = self.mav.messages.get("HOME_POSITION", None)
if use_cached_home is False or m is None:
m = self.poll_home_position(quiet=True)
loc = mavutil.location(m.latitude * 1.0e-7,
m.longitude * 1.0e-7,
m.altitude * 1.0e-3,
0)
return self.get_distance(loc, self.mav.location())
here = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
return self.get_distance_int(m, here)
def monitor_groundspeed(self, want, tolerance=0.5, timeout=5):
tstart = self.get_sim_time()
@ -2011,7 +2034,7 @@ class AutoTest(ABC):
)
home = self.poll_home_position()
self.progress("home: %s" % str(home))
if self.distance_to_home() > 1:
if self.distance_to_home(use_cached_home=True) > 1:
raise NotAchievedException("Setting home to current location did not work")
self.progress("Setting home elsewhere again")