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use proper matching for VTOL fixed-wing state regarding position acceptance

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This commit is contained in:
Andreas Antener
2016-06-28 15:45:51 +02:00
committed by Lorenz Meier
parent 53b5758eb4
commit 5ed4e4e3a5
1 changed files with 8 additions and 3 deletions
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integrationtests/python_src/px4_it/mavros/mission_test.py
+8 -3
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@@ -70,7 +70,7 @@ class MavrosMissionTest(unittest.TestCase):
self.extended_state = ExtendedState() self.extended_state = ExtendedState()
self.home_alt = 0 self.home_alt = 0
self.mc_rad = 5 self.mc_rad = 5
self.fw_rad = 80 self.fw_rad = 60
self.fw_alt_rad = 10 self.fw_alt_rad = 10
self.last_alt_d = 9999 self.last_alt_d = 9999
self.last_pos_d = 9999 self.last_pos_d = 9999
@@ -149,10 +149,15 @@ class MavrosMissionTest(unittest.TestCase):
# does it reach the position in X seconds? # does it reach the position in X seconds?
count = 0 count = 0
while count < timeout: while count < timeout:
# use different radius matching vehicle state # use MC radius by default
# FIXME: also check MAV_TYPE from system status, otherwise pure fixed-wing won't work
xy_radius = self.mc_rad xy_radius = self.mc_rad
z_radius = self.mc_rad z_radius = self.mc_rad
if self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW:
# use FW radius if in FW or in transition
if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW or
self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_MC or
self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_FW):
xy_radius = self.fw_rad xy_radius = self.fw_rad
z_radius = self.fw_alt_rad z_radius = self.fw_alt_rad