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Tools: move guided_achieve_heading to common

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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
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19
Tools/autotest/arducopter.py
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@ -1341,25 +1341,6 @@ class AutoTestCopter(AutoTest):
if ex is not None: if ex is not None:
raise ex 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): def fly_guided_change_submode(self):
'''Ensure we can move around in guided after a takeoff command''' '''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', self.mav.recv_match(condition='RC_CHANNELS.chan3_raw==1500',
blocking=True) 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 # WAIT UTILITIES
################################################# #################################################