def arm_and_takeoff(aTargetAltitude):
"""
Arms vehicle and fly to aTargetAltitude.
"""
# print "Basic pre-arm checks"
# Don't let the user try to fly autopilot is booting
if vehicle.mode.name == "INITIALISING":
# print "Waiting for vehicle to initialise"
time.sleep(1)
while vehicle.gps_0.fix_type < 2:
# print "Waiting for GPS...:", vehicle.gps_0.fix_type
time.sleep(1)
# print "Arming motors"
# Copter should arm in GUIDED mode
vehicle.mode = VehicleMode("GUIDED")
vehicle.flush()
i = 60
while not api.exit and vehicle.mode.name != 'GUIDED' and i > 0:
# print " Waiting for guided %s seconds..." % (i,)
time.sleep(1)
i = i - 1
vehicle.armed = True
vehicle.flush()
i = 60
while not api.exit and not vehicle.armed and vehicle.mode.name == 'GUIDED' and i > 0:
# print " Waiting for arming %s seconds..." % (i,)
time.sleep(1)
i = i - 1
# Failure will result in arming but immediately landing
assert vehicle.armed
assert_equals(vehicle.mode.name, 'GUIDED')
# print "Taking off!"
vehicle.commands.takeoff(
aTargetAltitude) # Take off to target altitude
vehicle.flush()
# Wait until the vehicle reaches a safe height before
# processing the goto (otherwise the command after
# Vehicle.commands.takeoff will execute immediately).
while not api.exit:
# print " Altitude: ", vehicle.location.alt
# Test for altitude just below target, in case of undershoot.
if vehicle.location.alt >= aTargetAltitude * 0.95:
# print "Reached target altitude"
break
assert_equals(vehicle.mode.name, 'GUIDED')
time.sleep(1)
def arm_and_takeoff(aTargetAltitude):
"""
Arms vehicle and fly to aTargetAltitude.
"""
# print "Basic pre-arm checks"
# Don't let the user try to fly autopilot is booting
if vehicle.mode.name == "INITIALISING":
# print "Waiting for vehicle to initialise"
time.sleep(1)
while vehicle.gps_0.fix_type < 2:
# print "Waiting for GPS...:", vehicle.gps_0.fix_type
time.sleep(1)
# print "Arming motors"
# Copter should arm in GUIDED mode
vehicle.mode = VehicleMode("GUIDED")
vehicle.flush()
i = 60
while not api.exit and vehicle.mode.name != 'GUIDED' and i > 0:
# print " Waiting for guided %s seconds..." % (i,)
time.sleep(1)
i = i - 1
vehicle.armed = True
vehicle.flush()
i = 60
while not api.exit and not vehicle.armed and vehicle.mode.name == 'GUIDED' and i > 0:
# print " Waiting for arming %s seconds..." % (i,)
time.sleep(1)
i = i - 1
# Failure will result in arming but immediately landing
assert vehicle.armed
assert_equals(vehicle.mode.name, 'GUIDED')
# print "Taking off!"
vehicle.commands.takeoff(aTargetAltitude) # Take off to target altitude
vehicle.flush()
# Wait until the vehicle reaches a safe height before
# processing the goto (otherwise the command after
# Vehicle.commands.takeoff will execute immediately).
while not api.exit:
# print " Altitude: ", vehicle.location.alt
# Test for altitude just below target, in case of undershoot.
if vehicle.location.alt >= aTargetAltitude * 0.95:
# print "Reached target altitude"
break
assert_equals(vehicle.mode.name, 'GUIDED')
time.sleep(1)
def test_110(local_connect):
api = local_connect()
v = api.get_vehicles()[0]
# Change the vehicle into STABILIZE mode
v.mode = VehicleMode("STABILIZE")
# NOTE wait crudely for ACK on mode update
time.sleep(3)
# Define example callback for mode
def armed_callback(attribute):
armed_callback.called += 1
armed_callback.called = 0
# When the same (event, callback) pair is passed to add_attribute_observer,
# only one instance of the observer callback should be added.
v.add_attribute_observer('armed', armed_callback)
v.add_attribute_observer('armed', armed_callback)
v.add_attribute_observer('armed', armed_callback)
v.add_attribute_observer('armed', armed_callback)
v.add_attribute_observer('armed', armed_callback)
# Disarm and see update.
v.armed = False
v.flush()
# Wait for ACK.
time.sleep(3)
# Ensure the callback was called.
assert armed_callback.called > 0, "Callback should have been called."
# Rmove all observers. The first call should remove all listeners
# we've added; the second call should be ignored and not throw.
# NOTE: We test if armed_callback were treating adding each additional callback
# and remove_attribute_observer were removing them one at a time; in this
# case, there would be three callbacks still attached.
v.remove_attribute_observer('armed', armed_callback)
v.remove_attribute_observer('armed', armed_callback)
callcount = armed_callback.called
# Re-arm and see update.
v.armed = True
v.flush()
# Wait for ack
time.sleep(3)
# Ensure the callback was called zero times.
assert_equals(armed_callback.called, callcount,
"Callback should not have been called once removed.")
def test_110(local_connect):
api = local_connect()
v = api.get_vehicles()[0]
# Change the vehicle into STABILIZE mode
v.mode = VehicleMode("STABILIZE")
# NOTE wait crudely for ACK on mode update
time.sleep(3)
# Define example callback for mode
def armed_callback(attribute):
armed_callback.called += 1
armed_callback.called = 0
# When the same (event, callback) pair is passed to add_attribute_observer,
# only one instance of the observer callback should be added.
v.add_attribute_observer('armed', armed_callback)
v.add_attribute_observer('armed', armed_callback)
v.add_attribute_observer('armed', armed_callback)
v.add_attribute_observer('armed', armed_callback)
v.add_attribute_observer('armed', armed_callback)
# Disarm and see update.
v.armed = False
v.flush()
# Wait for ACK.
time.sleep(3)
# Ensure the callback was called.
assert armed_callback.called > 0, "Callback should have been called."
# Rmove all observers. The first call should remove all listeners
# we've added; the second call should be ignored and not throw.
# NOTE: We test if armed_callback were treating adding each additional callback
# and remove_attribute_observer were removing them one at a time; in this
# case, there would be three callbacks still attached.
v.remove_attribute_observer('armed', armed_callback)
v.remove_attribute_observer('armed', armed_callback)
callcount = armed_callback.called
# Re-arm and see update.
v.armed = True
v.flush()
# Wait for ack
time.sleep(3)
# Ensure the callback was called zero times.
assert_equals(armed_callback.called, callcount, "Callback should not have been called once removed.")
def test_115(local_connect):
api = local_connect()
v = api.get_vehicles()[0]
# Dummy callback
def mavlink_callback(*args):
mavlink_callback.count += 1
mavlink_callback.count = 0
# Set the callback.
v.set_mavlink_callback(mavlink_callback)
# Change the vehicle into STABILIZE mode
v.mode = VehicleMode("STABILIZE")
# NOTE wait crudely for ACK on mode update
time.sleep(3)
# Expect the callback to have been called
assert mavlink_callback.count > 0
# Unset the callback.
v.unset_mavlink_callback()
savecount = mavlink_callback.count
# Disarm. A callback of None should not throw errors
v.armed = False
v.flush()
# NOTE wait crudely for ACK on mode update
time.sleep(3)
# Expect the callback to have been called
assert_equals(savecount, mavlink_callback.count)
# Re-arm should not throw errors.
v.armed = True
v.flush()
# NOTE wait crudely for ACK on mode update
time.sleep(3)
def test_timeout(local_connect):
v = local_connect().get_vehicles()[0]
value = v.parameters['THR_MIN']
assert_equals(type(value), float)
start = current_milli_time()
v.parameters['THR_MIN'] = value + 10
end = current_milli_time()
newvalue = v.parameters['THR_MIN']
assert_equals(type(newvalue), float)
assert_equals(newvalue, value + 10)
def test_parameters(local_connect):
v = local_connect().get_vehicles()[0]
# Simple parameter checks
assert_equals(type(v.parameters["THR_MIN"]), float)
def test_parameter(local_connect):
v = local_connect().get_vehicles()[0]
# Perform a simple parameter check
assert_equals(type(v.parameters['THR_MIN']), float)
