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autotest: fix rover POSITION_TARGET_LOCAL test

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Peter Barker 2022-01-07 11:45:27 +11:00 committed by Peter Barker
parent 03e9307bdd
commit 62df8facd9
1 changed files with 16 additions and 13 deletions
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29
Tools/autotest/rover.py
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@ -5525,11 +5525,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.change_mode('GUIDED')
self.wait_ready_to_arm()
self.arm_vehicle()
tstart = self.get_sim_time()
while True:
now = self.get_sim_time_cached()
if now - tstart > 10:
raise AutoTestTimeoutException("Didn't get to speed")
ofs_x = 30.0
ofs_y = 30.0
def send_target():
self.mav.mav.set_position_target_local_ned_send(
0, # time_boot_ms
target_sysid,
@ -5543,8 +5542,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
mavutil.mavlink.POSITION_TARGET_TYPEMASK_AZ_IGNORE |
mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_IGNORE |
mavutil.mavlink.POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE,
30.0, # pos-x
30.0, # pos-y
ofs_x, # pos-x
ofs_y, # pos-y
0, # pos-z
0, # vel-x
0, # vel-y
@ -5556,12 +5555,16 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
0, # yaw rate
)
msg = self.mav.recv_match(type='VFR_HUD', blocking=True, timeout=1)
if msg is None:
raise NotAchievedException("No VFR_HUD message")
self.progress("speed=%f" % msg.groundspeed)
if msg.groundspeed > 5:
break
self.wait_distance_to_local_position(
(ofs_x, ofs_y, 0),
distance_min=0,
distance_max=1,
timeout=60,
called_function=lambda last_value, target : send_target(),
minimum_duration=5, # make sure we stop!
)
self.do_RTL()
self.disarm_vehicle()
def test_end_mission_behavior(self, timeout=60):