aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

SITL: allow easier slowing of copter test

Browse Source
This commit is contained in:
Randy Mackay 2015-05-13 22:18:49 +09:00
parent 35b550f03d
commit c86a396ca0
1 changed files with 5 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
Tools/autotest/arducopter.py
View File

@ -22,6 +22,7 @@ AVCHOME=mavutil.location(40.072842,-105.230575,1586,0)
homeloc = None
num_wp = 0
speedup_default = 5
def hover(mavproxy, mav, hover_throttle=1450):
mavproxy.send('rc 3 %u\n' % hover_throttle)
@ -912,7 +913,7 @@ def fly_ArduCopter(viewerip=None, map=False):
util.build_SIL('ArduCopter', target=TARGET)
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sil = util.start_SIL('ArduCopter', wipe=True, model='+', home=home, speedup=5)
sil = util.start_SIL('ArduCopter', wipe=True, model='+', home=home, speedup=speedup_default)
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
mavproxy.expect('Received [0-9]+ parameters')
@ -924,7 +925,7 @@ def fly_ArduCopter(viewerip=None, map=False):
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
sil = util.start_SIL('ArduCopter', model='+', home=home, speedup=5)
sil = util.start_SIL('ArduCopter', model='+', home=home, speedup=speedup_default)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
@ -1259,7 +1260,7 @@ def fly_CopterAVC(viewerip=None, map=False):
util.build_SIL('ArduCopter', target=TARGET)
home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
sil = util.start_SIL('ArduCopter', wipe=True, model='+', home=home, speedup=5)
sil = util.start_SIL('ArduCopter', wipe=True, model='+', home=home, speedup=speedup_default)
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
mavproxy.expect('Received [0-9]+ parameters')
@ -1271,7 +1272,7 @@ def fly_CopterAVC(viewerip=None, map=False):
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
sil = util.start_SIL('ArduCopter', model='+', home=home, speedup=5)
sil = util.start_SIL('ArduCopter', model='+', home=home, speedup=speedup_default)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip