From e78eec32925e07bd5ac2365d7c1f42d51d471db7 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 7 Mar 2019 12:50:09 +1100 Subject: [PATCH] Tools: autotest: account for Rover blowing past home in DriveRTL --- Tools/autotest/apmrover2.py | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/Tools/autotest/apmrover2.py b/Tools/autotest/apmrover2.py index d18a0503fb..d843f0eb60 100644 --- a/Tools/autotest/apmrover2.py +++ b/Tools/autotest/apmrover2.py @@ -482,14 +482,17 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) # the EKF doesn't pull us down to 0 speed: self.wait_groundspeed(0, 0.5, timeout=600) + # current Rover blows straight past the home position and ends + # up ~6m past the home point. home_distance = self.distance_to_home() - home_distance_max = 5 + home_distance_min = 5.5 + home_distance_max = 6.5 if home_distance > home_distance_max: raise NotAchievedException( - "Did not get home (%f metres distant > %f)" % - (home_distance, home_distance_max)) + "Did not stop near home (%f metres distant (%f > want > %f))" % + (home_distance, home_distance_min, home_distance_max)) self.disarm_vehicle() - self.progress("RTL Mission OK") + self.progress("RTL Mission OK (%fm)" % home_distance) def wait_distance_home_gt(self, distance, timeout=60):