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

Tools: move guided_achieve_heading to common

Browse Source
This commit is contained in:
Pierre Kancir 2018-07-31 12:02:11 +02:00 committed by Peter Barker
parent ef6db4da4a
commit d507805891
2 changed files with 19 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
Tools/autotest/arducopter.py
View File

@ -1341,25 +1341,6 @@ class AutoTestCopter(AutoTest):
if ex is not None:
raise ex
def guided_achieve_heading(self, heading):
tstart = self.get_sim_time()
self.run_cmd(mavutil.mavlink.MAV_CMD_CONDITION_YAW,
heading, # target angle
10, # degrees/second
1, # -1 is counter-clockwise, 1 clockwise
0, # 1 for relative, 0 for absolute
0, # p5
0, # p6
0, # p7
)
while True:
if self.get_sim_time() - tstart > 200:
raise NotAchievedException()
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
self.progress("heading=%f want=%f" % (m.heading, heading))
if m.heading == heading:
return
def fly_guided_change_submode(self):
'''Ensure we can move around in guided after a takeoff command'''

19
Tools/autotest/common.py
View File

@ -567,6 +567,25 @@ class AutoTest(ABC):
self.mav.recv_match(condition='RC_CHANNELS.chan3_raw==1500',
blocking=True)
def guided_achieve_heading(self, heading):
tstart = self.get_sim_time()
self.run_cmd(mavutil.mavlink.MAV_CMD_CONDITION_YAW,
heading, # target angle
10, # degrees/second
1, # -1 is counter-clockwise, 1 clockwise
0, # 1 for relative, 0 for absolute
0, # p5
0, # p6
0, # p7
)
while True:
if self.get_sim_time() - tstart > 200:
raise NotAchievedException()
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
self.progress("heading=%f want=%f" % (m.heading, heading))
if m.heading == heading:
return
#################################################
# WAIT UTILITIES
#################################################