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

autotest: augment mount test to attempt as CMD_INT

Browse Source
This commit is contained in:
Peter Barker 2023-05-29 11:18:00 +10:00 committed by Andrew Tridgell
parent 24441dbc00
commit d0d15ad3ee
1 changed files with 26 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
Tools/autotest/arducopter.py
View File

@ -5154,6 +5154,32 @@ class AutoTestCopter(AutoTest):
roi_alt,
)
self.test_mount_pitch(-52, 5, mavutil.mavlink.MAV_MOUNT_MODE_GPS_POINT)
self.progress("Using MAV_CMD_DO_SET_ROI_LOCATION")
# start by pointing the gimbal elsewhere with a
# known-working command:
self.run_cmd(
mavutil.mavlink.MAV_CMD_DO_SET_ROI_LOCATION,
0,
0,
0,
0,
roi_lat + 1,
roi_lon + 1,
roi_alt,
)
# now point it with command_int:
self.run_cmd_int(
mavutil.mavlink.MAV_CMD_DO_SET_ROI_LOCATION,
0,
0,
0,
0,
int(roi_lat * 1e7),
int(roi_lon * 1e7),
roi_alt,
frame=mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
)
self.test_mount_pitch(-52, 5, mavutil.mavlink.MAV_MOUNT_MODE_GPS_POINT)
self.progress("Using MAV_CMD_DO_SET_ROI_NONE")
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_ROI_NONE,