def test_connection(connection_parameters): boat = Boat(**connection_parameters) boat.connect(wait_ready=False) assert boat.vehicle is not None boat.vehicle.close()
def test_vehicle_armed(connection_parameters): boat = Boat(**connection_parameters) boat.connect(wait_ready=False) boat.arm() assert boat.vehicle.armed boat.vehicle.close()
def test_vehicle_mode(connection_parameters): boat = Boat(**connection_parameters) boat.connect(wait_ready=False) boat.set_mode('GUIDED') assert boat.vehicle.mode.name == 'GUIDED' boat.vehicle.close()
def test_wait_armable_vehicle(connection_parameters): boat = Boat(**connection_parameters) boat.connect(wait_ready=False) while not boat.vehicle.is_armable: print(" Waiting for vehicle to initialise...") time.sleep(1) assert boat.vehicle.is_armable boat.vehicle.close()
def test_set_sail(connection_parameters): boat = Boat(**connection_parameters) boat.connect() boat.arm() boat.set_mode('GUIDED') lat_point = 42.227870 long_point = -8.719468 boat.goto(latitude=lat_point, longitude=long_point, ground_speed=10) while boat.vehicle.location.global_frame.lat < lat_point: time.sleep(1) assert 42.227860 < boat.vehicle.location.global_frame.lat < 42.227890 boat.vehicle.close()
def main(): connection_string = settings.DEFAULT_SERIAL_PORT baud_rate = settings.DEFAULT_BAUD_RATE if arg_options.connect: connection_string = arg_options.connect if arg_options.baud_rate: baud_rate = arg_options.baud_rate boat = Boat(connection_string, baudrate=baud_rate) boat.connect(wait_ready=False) vehicle = boat.vehicle while not vehicle.attitude.pitch: logger.debug(" Waiting for vehicle to initialise...") time.sleep(1) pub.send("DBG", "Autopilot: {!s}".format(vehicle.version)) # logger.debug("Autopilot Firmware version: %s", vehicle.version) pub.send("DBG", "Mode: {}".format(vehicle.mode.name)) # logger.debug("Mode: %s", vehicle.mode.name) # pub.send("DBG", "System status: {}".format(vehicle.system_status)) # logger.debug("System status: %s", vehicle.system_status) pub.send("DBG", "Armed: {}".format(vehicle.armed)) # logger.debug("Armed: %s", vehicle.armed) # print (boat.vehicle.groundspeed) if arg_options.listen: messageLoop(boat) if arg_options.goto: boat.arm() boat.set_mode('GUIDED') lat, lon = arg_options.goto.split(',') boat.goto(lat, lon) boat.vehicle.close()
def main(): connection_string = settings.DEFAULT_SERIAL_PORT baud_rate = settings.DEFAULT_BAUD_RATE if arg_options.connect: connection_string = arg_options.connect if arg_options.baud_rate: baud_rate = arg_options.baud_rate boat = Boat(connection_string, baudrate=baud_rate) boat.connect(wait_ready=False) vehicle = boat.vehicle while not vehicle.attitude.pitch: logger.debug(" Waiting for vehicle to initialise...") time.sleep(1) logger.debug("Autopilot Firmware version: %s", vehicle.version) logger.debug("Mode: %s", vehicle.mode.name) logger.debug("System status: %s", vehicle.system_status) logger.debug("Armed: %s", vehicle.armed) while arg_options.listen: listen_data = "Location: %s - %s - Groundspeed: %s" % \ (boat.location, boat.vehicle.attitude, boat.vehicle.groundspeed) logger.debug(listen_data) time.sleep(2) if arg_options.goto: boat.arm() boat.set_mode('GUIDED') lat, lon = arg_options.goto.split(',') boat.goto(lat, lon) boat.vehicle.close()