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Tools: autotest: make vision position test more reliable

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Peter Barker 2019-06-28 18:51:24 +10:00 committed by Peter Barker
parent 7d4a758059
commit 6442dd1f2f
1 changed files with 6 additions and 6 deletions
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12
Tools/autotest/arducopter.py
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@ -1442,20 +1442,20 @@ class AutoTestCopter(AutoTest):
# without a GPS or some sort of external prompting, AP # without a GPS or some sort of external prompting, AP
# doesn't send system_time messages. So prompt it: # doesn't send system_time messages. So prompt it:
self.mav.mav.system_time_send(int(time.time() * 1000000), 0) self.mav.mav.system_time_send(int(time.time() * 1000000), 0)
self.mav.mav.set_gps_global_origin_send(1,
old_pos.lat,
old_pos.lon,
old_pos.alt)
self.progress("Waiting for non-zero-lat") self.progress("Waiting for non-zero-lat")
tstart = self.get_sim_time() tstart = self.get_sim_time()
while True: while True:
self.mav.mav.set_gps_global_origin_send(1,
old_pos.lat,
old_pos.lon,
old_pos.alt)
gpi = self.mav.recv_match(type='GLOBAL_POSITION_INT', gpi = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True) blocking=True)
# self.progress("gpi=%s" % str(gpi)) self.progress("gpi=%s" % str(gpi))
if gpi.lat != 0: if gpi.lat != 0:
break break
if self.get_sim_time_cached() - tstart > 20: if self.get_sim_time_cached() - tstart > 60:
raise AutoTestTimeoutException("Did not get non-zero lat") raise AutoTestTimeoutException("Did not get non-zero lat")
self.takeoff() self.takeoff()