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"