From ebd13ac84e6c1d3756a0cc101a89e010ada68a76 Mon Sep 17 00:00:00 2001 From: Pierre Kancir Date: Tue, 11 Aug 2020 16:49:10 +0200 Subject: [PATCH] Tools: copter: wait_landed_and_disarmed: use wait_for_alt --- Tools/autotest/arducopter.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index 39275561bd..27364b48e1 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -152,10 +152,13 @@ class AutoTestCopter(AutoTest): self.change_mode("LAND") self.wait_landed_and_disarmed(timeout=timeout) - def wait_landed_and_disarmed(self, min_alt=4, timeout=60): + def wait_landed_and_disarmed(self, min_alt=6, timeout=60): """Wait to be landed and disarmed""" - self.wait_altitude(-5, min_alt, relative=True, timeout=timeout) - self.progress("LANDING: ok!") + m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True) + alt = m.relative_alt / 1000.0 # mm -> m + if alt > min_alt: + self.wait_for_alt(min_alt, timeout=timeout) +# self.wait_statustext("SIM Hit ground", timeout=timeout) self.wait_disarmed() def hover(self, hover_throttle=1500):