Arms vehicle and fly to aTargetAltitude.
(aTargetAltitude)
| 15 | vehicle.parameters['FS_EKF_THRESH'] = 100 |
| 16 | |
| 17 | def arm_and_takeoff(aTargetAltitude): |
| 18 | """ |
| 19 | Arms vehicle and fly to aTargetAltitude. |
| 20 | """ |
| 21 | |
| 22 | # Don't let the user try to fly autopilot is booting |
| 23 | wait_for(lambda : vehicle.is_armable, 60) |
| 24 | assert_equals(vehicle.is_armable, True) |
| 25 | |
| 26 | # Copter should arm in GUIDED mode |
| 27 | vehicle.mode = VehicleMode("GUIDED") |
| 28 | wait_for(lambda : vehicle.mode.name == 'GUIDED', 60) |
| 29 | assert_equals(vehicle.mode.name, 'GUIDED') |
| 30 | |
| 31 | # Arm copter. |
| 32 | vehicle.armed = True |
| 33 | wait_for(lambda : vehicle.armed, 60) |
| 34 | assert_equals(vehicle.armed, True) |
| 35 | |
| 36 | # Take off to target altitude |
| 37 | vehicle.simple_takeoff(aTargetAltitude) |
| 38 | |
| 39 | # Wait until the vehicle reaches a safe height before |
| 40 | # processing the goto (otherwise the command after |
| 41 | # Vehicle.simple_takeoff will execute immediately). |
| 42 | while True: |
| 43 | # print " Altitude: ", vehicle.location.alt |
| 44 | # Test for altitude just below target, in case of undershoot. |
| 45 | if vehicle.location.global_frame.alt >= aTargetAltitude * 0.95: |
| 46 | # print "Reached target altitude" |
| 47 | break |
| 48 | |
| 49 | assert_equals(vehicle.mode.name, 'GUIDED') |
| 50 | time.sleep(1) |
| 51 | |
| 52 | arm_and_takeoff(10) |
| 53 | vehicle.wait_ready('location.local_frame', timeout=60) |
no test coverage detected