def test_set_altitude(self):
loc = Location()
#set the default location
self.assertEqual(loc.get_altitude(),0)
loc.set_altitude(0)
self.assertEqual(loc.get_altitude(),0)
#check character -> set zero
loc.set_altitude(CHARACTER)
self.assertEqual(loc.get_altitude(),0)
#check character number -> convert to the number
loc.set_altitude(CHAR_NUMBER)
self.assertEqual(loc.get_altitude(),float(CHAR_NUMBER))
def up(self,init_alt_in_meter):
if(self.is_first_function):
head = self.vehicle.heading/ANGLE_FIX
self.is_first_function = False
else:
head= self.vehicle.heading
loc = Location()
loc1 = Location()
loc.setFromVehicleLocation(self.vehicle.location.global_frame)
loc1.setFromVehicleLocation(self.vehicle.location.global_frame)
loc.set_altitude(loc.get_altitude()+init_alt_in_meter)
location_global = LocationGlobal(loc.latitude,loc.longitude,loc.altitude)
self.vehicle.simple_goto(location_global)
while not loc1.is_right_alt(loc.altitude):
loc1.setFromVehicleLocation(self.vehicle.location.global_frame)
self.condition_yaw(head)
time.sleep(DELAY)
if init_alt_in_meter > 0:
print "complete function up"
else:
print "complete function down"
def forward(self,move_forward_in_meter):
dest_location = Location()
loc1 = Location()
head = self.vehicle.heading
loc1.setFromVehicleLocation(self.vehicle.location.global_relative_frame)
dest_location.setFromVehicleLocation(self.vehicle.location.global_relative_frame)
add_lat = math.sin(self.vehicle.heading)*(move_forward_in_meter/100000.0)
add_lon = math.cos(self.vehicle.heading)*(move_forward_in_meter/100000.0)
dest_location.set_latitude(round(dest_location.get_latitude()+ add_lat,7))
dest_location.set_longitude(round(dest_location.get_longitude()+add_lon,7))
location_global = LocationGlobalRelative(dest_location.get_latitude(),dest_location.get_longitude(),dest_location.get_altitude())
self.vehicle.simple_goto(location_global,groundspeed=100)
while True:
time.sleep(DELAY)
if abs(self.vehicle.location.global_relative_frame.lat-location_global.lat) < 0.0000001 and abs(self.vehicle.location.global_relative_frame.lon-location_global.lon) < 0.000001 :
break;
self.condition_yaw(head)
if move_forward_in_meter > 0:
print "complete function forward\n"
else :
print "complete function backwards\n"
