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Change mission to new format and reset defaults

sbg
sander 9 years ago committed by Andreas Antener
parent
25e749de77
commit
1548a9a2a1
3 changed files with 10 additions and 14 deletions
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  1. 10
      Tools/CI/MissionCheck.py
  2. 5
      Tools/CI/VTOL_TAKEOFF.mission
  3. 9
      Tools/CI/VTOLmission.txt

10
Tools/CI/MissionCheck.py
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@ -17,9 +17,9 @@ @@ -17,9 +17,9 @@
connection_string = '127.0.0.1:14540'
import_mission_filename = 'VTOLmission.txt'
max_execution_time = 250
alt_acceptance_radius = 10
import_mission_filename = 'VTOL_TAKEOFF.mission'
max_execution_time = 200
alt_acceptance_radius = 5
################################################################################################
# Init
@ -150,14 +150,14 @@ def save_mission(aFileName): @@ -150,14 +150,14 @@ def save_mission(aFileName):
Save a mission in the Waypoint file format
(http://qgroundcontrol.org/mavlink/waypoint_protocol#waypoint_file_format).
"""
print "\nSave mission from Vehicle to file: %s" % export_mission_filename
print "\nSave mission from Vehicle to file: %s" % aFileName
#Download mission from vehicle
missionlist = download_mission()
#Add file-format information
output='QGC WPL 110\n'
#Add home location as 0th waypoint
home = vehicle.home_location
output+="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n" % (0,1,0,16,0,0,0,0,home.lat,home.lon,home.alt,1)
output+="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n\n\n" % (0,1,0,16,0,0,0,0,home.lat,home.lon,home.alt,1)
#Add commands
for cmd in missionlist:
commandline="%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\t%s\n" % (cmd.seq,cmd.current,cmd.frame,cmd.command,cmd.param1,cmd.param2,cmd.param3,cmd.param4,cmd.x,cmd.y,cmd.z,cmd.autocontinue)

5
Tools/CI/VTOL_TAKEOFF.mission
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@ -0,0 +1,5 @@ @@ -0,0 +1,5 @@
QGC WPL 110
1 0 3 84 0.0 0.0 -0.0 0.0 47.3975105286 8.55026626587 10.0 1
1 0 3 16 0.0 0.0 -0.0 0.0 47.395450592 8.55018424988 10.0 1
2 0 3 16 0.0 0.0 -0.0 0.0 47.3954582214 8.54566764832 10.0 1
3 0 3 85 0.0 0.0 -0.0 0.0 47.3977355957 8.54561138153 10.0 1

9
Tools/CI/VTOLmission.txt
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@ -1,9 +0,0 @@ @@ -1,9 +0,0 @@
QGC WPL 110
0 1 0 16 0 0 0 0 47.3979949951 8.54559612274 25.0 1
1 0 2 3000 4.0 0.0 0.0 0.0 47.3980331421 8.54578971863 25.0 1
2 0 3 16 0.0 0.0 -0.0 0.0 47.399269104 8.54557228088 25.0 1
3 0 3 16 0.0 0.0 -0.0 0.0 47.3992652893 8.54230213165 25.0 1
4 0 3 16 0.0 0.0 -0.0 0.0 47.3974761963 8.54239082336 25.0 1
5 0 3 16 0.0 0.0 -0.0 0.0 47.3976669312 8.54509449005 25.0 1
6 0 2 3000 3.0 0.0 0.0 0.0 47.3977851868 8.54526233673 25.0 1
7 0 3 21 25.0 0.0 -0.0 0.0 47.3979797363 8.54460906982 25.0 1
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