def setUp(self): origin = LocationGlobalRelative(37.873168, -122.302062, 0) # lat,lon,alt self.startxOffset = 20 # meters self.startyOffset = 15 # meters self.startzOffset = 10 # meters self.startHeading = 0 # deg self.startLocation = location_helpers.addVectorToLocation( origin, Vector3(self.startxOffset, self.startyOffset, self.startzOffset)) #Run the controller constructor self.controller = flyController.FlyController(origin, self.startxOffset, self.startyOffset, self.startzOffset, self.startHeading)
def setUp(self): origin = LocationGlobalRelative(37.873168, -122.302062, 0) # lat,lon,alt self.startxOffset = 20 # meters self.startyOffset = 15 # meters self.startzOffset = 130 # meters self.startHeading = 0 # deg self.startLocation = location_helpers.addVectorToLocation( origin, Vector3(self.startxOffset, self.startyOffset, self.startzOffset)) #Run the controller constructor self.controller = flyController.FlyController(origin, self.startxOffset, self.startyOffset, self.startzOffset, self.startHeading) self.controller._approach = Mock(return_value=Vector3()) self.controller._strafe = Mock(return_value=Vector3()) self.controller._climb = Mock(return_value=Vector3()) #Set options self.controller.maxClimbRate = 5 # m/s self.controller.maxAlt = 100 #m #Arbirary sticks throttle = 0.3 roll = -0.4 pitch = 0.5 yaw = -0.6 raw_paddle = 0.7 self.channels = [throttle, roll, pitch, yaw, 0.0, 0.0, 0.0, raw_paddle] self.controller.move(self.channels, newHeading=0, newOrigin=LocationGlobalRelative( 37.873168, -122.302062, 20))