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autotest: throw exception when GIMBAL_DEVICE_ATTITUDE_STATUS not received

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Peter Barker 2022-09-08 10:52:58 +10:00 committed by Peter Barker
parent 939bd94796
commit e9bffe2045
1 changed files with 2 additions and 6 deletions
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8
Tools/autotest/arducopter.py
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@ -4633,9 +4633,7 @@ class AutoTestCopter(AutoTest):
def get_mount_roll_pitch_yaw_deg(self):
'''return mount (aka gimbal) roll, pitch and yaw angles in degrees'''
# wait for gimbal attitude message
m = self.mav.recv_match(type='GIMBAL_DEVICE_ATTITUDE_STATUS',
blocking=True,
timeout=5)
m = self.assert_receive_message('GIMBAL_DEVICE_ATTITUDE_STATUS', timeout=5)
# convert quaternion to euler angles and return
q = quaternion.Quaternion(m.q)
@ -4667,9 +4665,7 @@ class AutoTestCopter(AutoTest):
self.reboot_sitl() # to handle MNT_TYPE changing
# make sure we're getting gimbal device attitude status
self.mav.recv_match(type='GIMBAL_DEVICE_ATTITUDE_STATUS',
blocking=True,
timeout=5)
self.assert_receive_message('GIMBAL_DEVICE_ATTITUDE_STATUS', timeout=5)
# change mount to neutral mode (point forward, not stabilising)
self.set_mount_mode(mavutil.mavlink.MAV_MOUNT_MODE_NEUTRAL)