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Tools: sub set-position-target-global-int sends target once

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This commit is contained in:
Randy Mackay 2020-11-25 10:28:36 +09:00
parent d63fe1eb6c
commit bce3c551e7
1 changed files with 20 additions and 19 deletions
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39
Tools/autotest/ardusub.py
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@ -290,29 +290,30 @@ class AutoTestSub(AutoTest):
lon = 5
alt = -10
# send a position-control command
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
1, # target system_id
1, # target component id
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
0b1111111111111000, # mask specifying use-only-lat-lon-alt
lat, # lat
lon, # lon
alt, # alt
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 200:
raise NotAchievedException("Did not move far enough")
# send a position-control command
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
1, # target system_id
1, # target component id
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
0b1111111111111000, # mask specifying use-only-lat-lon-alt
lat, # lat
lon, # lon
alt, # alt
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
pos = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
delta = self.get_distance_int(startpos, pos)