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autotest: allow frame to be specified when creating simple missions #26795

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merged 1 commit into from
Apr 15, 2024
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autotest: allow frame to be specified when creating simple missions #26795

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8 changes: 7 additions & 1 deletion Tools/autotest/vehicle_test_suite.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3995,7 +3995,11 @@ def create_simple_relhome_mission(self, items_in, target_system=1, target_compon
seq += 1
ret.append(item)
continue
(t, n, e, alt) = item
opts = {}
try:
(t, n, e, alt, opts) = item
except ValueError:
(t, n, e, alt) = item
lat = 0
lng = 0
if n != 0 or e != 0:
Expand All @@ -4005,6 +4009,8 @@ def create_simple_relhome_mission(self, items_in, target_system=1, target_compon
frame = mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT
if not self.ardupilot_stores_frame_for_cmd(t):
frame = mavutil.mavlink.MAV_FRAME_GLOBAL
if opts.get('frame', None) is not None:
frame = opts.get('frame')
ret.append(self.create_MISSION_ITEM_INT(t, seq=seq, frame=frame, x=int(lat*1e7), y=int(lng*1e7), z=alt))
seq += 1

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