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()
