def test_location_notify(connpath):
vehicle = connect(connpath)
ret = {'success': False}
@vehicle.location.on_attribute('global_frame')
def callback(*args):
assert_not_equals(args[2].alt, 0)
ret['success'] = True
wait_for(lambda : ret['success'], 30)
assert ret['success'], 'Expected location object to emit notifications.'
def arm_and_takeoff(aTargetAltitude):
"""
Arms vehicle and fly to aTargetAltitude.
"""
# Don't let the user try to fly autopilot is booting
wait_for(lambda: vehicle.is_armable, 60)
assert_equals(vehicle.is_armable, True)
# Copter should arm in GUIDED mode
vehicle.mode = VehicleMode("GUIDED")
wait_for(lambda: vehicle.mode.name == 'GUIDED', 60)
assert_equals(vehicle.mode.name, 'GUIDED')
# Arm copter.
vehicle.armed = True
wait_for(lambda: vehicle.armed, 60)
assert_equals(vehicle.armed, True)
# Take off to target altitude
vehicle.simple_takeoff(aTargetAltitude)
# Wait until the vehicle reaches a safe height before
# processing the goto (otherwise the command after
# Vehicle.simple_takeoff will execute immediately).
while True:
# print " Altitude: ", vehicle.location.alt
# Test for altitude just below target, in case of undershoot.
if vehicle.location.global_frame.alt >= aTargetAltitude * 0.95:
# print "Reached target altitude"
break
assert_equals(vehicle.mode.name, 'GUIDED')
time.sleep(1)
def test_110(connpath):
vehicle = connect(connpath, wait_ready=True)
# NOTE these are *very inappropriate settings*
# to make on a real vehicle. They are leveraged
# exclusively for simulation. Take heed!!!
vehicle.parameters['FS_GCS_ENABLE'] = 0
vehicle.parameters['FS_EKF_THRESH'] = 100
# Await armability.
wait_for(lambda: vehicle.is_armable, 60)
# Change the vehicle into STABILIZE mode
vehicle.mode = VehicleMode("GUIDED")
# NOTE wait crudely for ACK on mode update
time.sleep(3)
# Define example callback for mode
def armed_callback(vehicle, attribute, value):
armed_callback.called += 1
armed_callback.called = 0
# When the same (event, callback) pair is passed to add_attribute_listener,
# only one instance of the observer callback should be added.
vehicle.add_attribute_listener('armed', armed_callback)
vehicle.add_attribute_listener('armed', armed_callback)
vehicle.add_attribute_listener('armed', armed_callback)
vehicle.add_attribute_listener('armed', armed_callback)
vehicle.add_attribute_listener('armed', armed_callback)
# arm and see update.
vehicle.armed = True
# Wait for ACK.
time_max = 10
wait_for(lambda: armed_callback.called, time_max)
# Ensure the callback was called.
assert armed_callback.called > 0, "Callback should have been called within %d seconds" % (time_max,)
# Rmove all listeners. 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_listener were removing them one at a time; in this
# case, there would be three callbacks still attached.
vehicle.remove_attribute_listener('armed', armed_callback)
vehicle.remove_attribute_listener('armed', armed_callback)
callcount = armed_callback.called
# Disarm and see update.
vehicle.armed = False
# 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.")
vehicle.close()
def test_110(connpath):
vehicle = connect(connpath, wait_ready=True)
# NOTE these are *very inappropriate settings*
# to make on a real vehicle. They are leveraged
# exclusively for simulation. Take heed!!!
vehicle.parameters['FS_GCS_ENABLE'] = 0
vehicle.parameters['FS_EKF_THRESH'] = 100
# Await armability.
wait_for(lambda: vehicle.is_armable, 60)
# Change the vehicle into STABILIZE mode
vehicle.mode = VehicleMode("GUIDED")
# NOTE wait crudely for ACK on mode update
time.sleep(3)
# Define example callback for mode
def armed_callback(vehicle, attribute, value):
armed_callback.called += 1
armed_callback.called = 0
# When the same (event, callback) pair is passed to add_attribute_listener,
# only one instance of the observer callback should be added.
vehicle.add_attribute_listener('armed', armed_callback)
vehicle.add_attribute_listener('armed', armed_callback)
vehicle.add_attribute_listener('armed', armed_callback)
vehicle.add_attribute_listener('armed', armed_callback)
vehicle.add_attribute_listener('armed', armed_callback)
# arm and see update.
vehicle.armed = True
# Wait for ACK.
time_max = 10
wait_for(lambda: armed_callback.called, time_max)
# Ensure the callback was called.
assert armed_callback.called > 0, "Callback should have been called within %d seconds" % (
time_max, )
# Rmove all listeners. 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_listener were removing them one at a time; in this
# case, there would be three callbacks still attached.
vehicle.remove_attribute_listener('armed', armed_callback)
vehicle.remove_attribute_listener('armed', armed_callback)
callcount = armed_callback.called
# Disarm and see update.
vehicle.armed = False
# 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.")
vehicle.close()